Title

Anthropomorphic robot hand control by developing the variable friction system using the principle of sweat and fingerprints.

DGIST Authors

Donghyun Kim ; Dongwon Yun ; Yongjai Park

Advisor

윤동원

Co-Advisor(s)

Yongjai Park

Issued Date

2025

Awarded Date

2025-08-01

Type

Thesis

Description

Fingerprint, Sweat, Robot hand, Friction

Table Of Contents

List of Contents
List of Contents
Abstract i
List of contents ii
List of tables iii
List of figures vi

Ⅰ. Introduction 1
Ⅱ. Theoretical Analysis of Water’s Additional Friction Force 8
2.1.1 Adhesive force due to fluid 8
2.1.2 Viscous force due to water in the fingerprint 10
2.1.3 Friction force due to water in the fingerprint 11
2.2.1 Theoretical Validation Through Dynamic Friction Experiments 12
2.2.2 Relation between contact area and friction force 16

Ⅲ. Development of the robotic hand and friction change system 20
3.1 Fingerprint shape selection 20
3.2.1 Robot hand design 23
3.2.2 Grasping experiments 37

Ⅳ. Refinement of the variable friction module 41
4.1.1 Concept of variable friction system 42
4.1.2 Hole size parameter study in the variable friction module 46
4.1.3 Experimental evaluation of hole size effects in the variable friction module 47
4.1.4 Development and fabrication of the variable friction module 51
4.2.1 Experimental evaluation of friction for fluid selection 56
4.2.2 Configuration of experimental environment 57
4.2.3 Static friction force experiment 65
4.2.4 Friction tests for fingerprint modules with various geometries 69
4.2.5 Friction experiments on various surface types 71
4.2.6 Discussion of frictional changes based on different fluids 73
4.3.1 Fluid volume sensor fabrication 75
4.3.2 Development of ideas for fluid volume measurement 75
4.3.3 Electrode fabrication using an impact header 83
4.3.4 Advancement of impact header technology 85
4.3.5 Patterning IDE 96
4.3.6 Theoretical analysis of IDE sensor 98
4.3.6 Experimental evaluation of the fabricated IDE electrodes 102


Ⅴ. Development of a Robotic Hand 109
5.1 Robot hand design 109
5.2.1 Performance test of grasping various objects 115
5.2.2 Repetitive use through the configuration of a sensor-based feedback system ·· 121
5.2.3 Rubbing test 128
5.3 Discussion 135
5.4 Future plan 136


Ⅵ. Conclusion 139
References 140
국문요약 144

URI

https://scholar.dgist.ac.kr/handle/20.500.11750/59766
http://dgist.dcollection.net/common/orgView/200000892294

DOI

10.22677/THESIS.200000892294

Degree

Doctor

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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