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  Department of Robotics and Mechatronics Engineering Theses Master

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

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dc.contributor.advisor 윤동원 -
dc.contributor.author Dohui Han -
dc.date.accessioned 2026-09-01T19:31:56Z -
dc.date.available 2026-09-01T19:31:56Z -
dc.date.issued 2026 -
dc.identifier.uri https://scholar.dgist.ac.kr/handle/20.500.11750/60788 -
dc.identifier.uri http://dgist.dcollection.net/common/orgView/200001011773 -
dc.description Tactile sensor, Slip, Soft material, Decoupling, Strain propagation, Partial contact -
dc.description.tableofcontents 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		 -
dc.format.extent 91 -
dc.language eng -
dc.publisher DGIST -
dc.title A study on a tactile sensor for slip detection under partial contact in a robotic hand -
dc.type Thesis -
dc.identifier.doi 10.22677/THESIS.200001011773 -
dc.description.degree Master -
dc.contributor.department Department of Robotics and Mechatronics Engineering -
dc.date.awarded 2026-08-01 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.citation XT.RM 한25 202608 -
dc.date.accepted 2026-07-21 -
dc.contributor.alternativeDepartment 로봇및기계전자공학과 -
dc.subject.keyword Tactile sensor, Slip, Soft material, Decoupling, Strain propagation, Partial contact -
dc.contributor.affiliatedAuthor Dohui Han -
dc.contributor.affiliatedAuthor Dongwon Yun -
dc.contributor.alternativeName 한도희 -
dc.contributor.alternativeName Dongwon Yun -
dc.rights.embargoReleaseDate 2031-02-28 -
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