An Ultrasensitive Flexible and Bending Sensor for Detecting Angle and Micro-force

摘要

The dexterous robotic hand is required to investigate the characteristic of finger movements with perception ability of various sensors. A good angle displacement sensor can well describe finger motion in robotic hand manipulation tasks. In this paper, a flexible and bending sensor which was suitable to be mounted on flexible joint of robotic hand was presented in application of detecting angle displacement. Design of condition circuit was conducted to analyze the relationship between output voltage and bending angle. Calibration of the sensor results exhibited significant liner relationship, and the sensitivity of the sensor was 31.68 V/° functioned as angle displacement sensor. In addition, a Load Cells Force/Torque micro-force sensor was employed to calibrate the sensor which could also be used as a micro-force sensor in application of cell micro-manipulation filed, and the sensitivity of the sensor was 31.31 mV/mN functioned as micro-force sensor.