In this paper, are presented the characterization of two force sensors, in bias to incorporate them to the fingers of a robotic hand. The main goal of this work is to determine as main characteristic, the response of each sensor, in order to decide, which of them is the most effective for manipulation tasks in a mobile robotic platform. Manipulation mobile robot tasks, require to adapt its behavior and fingers configuration depending of the type and form of diverse objects. The first evaluated sensor is a cheap resistive force sensor and second is a piezoelectric force sensor. As robotic hand and then sensors will be incorporate on a mobile platform, sensor signals are sent to the a computer through a data card acquisition; an Arduino card has been used. We show the evaluation, results and conclusions of the experiments done.
展开▼
