Title

A study on a tactile sensor for slip detection under partial contact in a robotic hand

DGIST Authors

Dohui Han ; Dongwon Yun

Advisor

윤동원

Issued Date

2026

Awarded Date

2026-08-01

Type

Thesis

Description

Tactile sensor, Slip, Soft material, Decoupling, Strain propagation, Partial contact

Table Of Contents

I. Introduction 1
II. Design of a tactile sensor 10
2.1 Structural modification for partial contact 10
2.2 FEA-based design selection for strain propagation 12
2.3 Fabrication 30
III. Performance test of the tactile sensor 32
3.1 Calibration of the sensor 32
3.2 Partial contact response verification test 39
3.3 Verification of slip detecting capability 45
IV. Application test of the tactile sensor 49
4.1 Gripper platform 49
4.2 Slip-based force adjustment 54
IV. Conclusion 86
References 88
요 약 문 91

URI

https://scholar.dgist.ac.kr/handle/20.500.11750/60788
http://dgist.dcollection.net/common/orgView/200001011773

DOI

10.22677/THESIS.200001011773

Degree

Master

Department

Department of Robotics and Mechatronics Engineering

Publisher

DGIST

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