Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Development of Myoelectric Hand with Infrared LED-based Tactile Sensor

적외선 소자 기반의 촉각센서를 가진 근전의수 개발

  • 정동현 (경북대학교 전자전기컴퓨터학부) ;
  • 추준욱 (경북대학교 전자전기컴퓨터학부) ;
  • 이연정 (경북대학교 전자전기컴퓨터학부)
  • Published : 2009.08.01
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Abstract

This paper proposes an IR (infrared) LED (Light Emitting Diode)-based tactile fingertip sensor that can independently measure the normal and tangential force between the hand and an object. The proposed IR LED-based tactile sensor has several advantages over other technologies, including a low price, small size, and good sensitivity. The design of the first prototype is described and some experiments are conducted to show output characteristics of the proposed sensor. Furthemore, the effectiveness of the proposed sensor is demonstrated through anti-slip control in a multifunction myoelectric hand, called the KNU Hand, which includes several novel mechanisms for improved grasping capabilities. The experimental results show that slippage was avoided by simple force control using feedback on the normal and tangential force from the proposed sensor. Thus, grasping force control was achieved without any slippage or damage to the object.

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References

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