Title

A study on a soft tactile sensor for the incipient slip detection of a robotic hand

DGIST Authors

Dasom Kim ; Dongwon Yun ; Hoejoon Kim

Advisor

윤동원

Co-Advisor(s)

Hoejoon Kim

Issued Date

2025

Awarded Date

2025-02-01

Citation

Dasom Kim. (2025). A study on a soft tactile sensor for the incipient slip detection of a robotic hand. doi: 10.22677/THESIS.200000847681

Type

Thesis

Description

Tactile sensor, Surface slip, Strain, Soft material, Decoupling

Table Of Contents

I. Introduction 1
II. Desing of the sensor 7
2.1 Slip detection method 7
2.2 Structure of the sensor 10
2.2.1 Design of the sensor 10
2.2.2 Optimal gap size of the sensor 14
2.2.3 Optimal internal structure of the sensor 19
2.2.4 Optimal shape of the sensor 22
2.3 Materials and methods 25
2.4 Verification of slip detecting capability 27
III. Performance test of the tactile sensor 31
3.1 Cross-coupling error of the sensor 31
3.2 Random angle sensor performance 40
3.3 Sensitivity and measurement range of the sensor 44
3.4 Slip detection verification experiment 46
3.5 Resistance drift of the sensor 54
IV. Conclusion 56
References 59
요 약 문 63

URI

http://hdl.handle.net/20.500.11750/58019
http://dgist.dcollection.net/common/orgView/200000847681

DOI

10.22677/THESIS.200000847681

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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