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The use of force sensing resistive sensors in robotic hand applications
thesisposted on 2022-03-28, 02:37 authored by Angus Ross
The development and advancement of smaller and more powerful electronics has opened up many new areas where control systems and robotics can now be applied. This includes lighter and smaller robotics being used in prosthetics, such as hands, arms and legs. This has led to the development of many different types of sensors to be used in the prosthetics. The ability to have sensors on the surface of robotic hands allows for greater control and awareness of what the device is doing. This project explores the use of flexible MEMS sensors, specifically Force Sensing Resistors (FSR), on a prosthetic hand, with the goal of being able to pick up delicate objects without breaking them. We will incorporate the remote control of a robotic hand via a specially fitted out glove with flexible sensors attached to it which will allow the robotic hand to mimic its movement and strength of grip applied by the user to an object. This project will focus on sourcing tactile sensors to be placed on the fingers of the robotic hand so as to detect objects placed in the hand's grip. The sensors will stop the robotic finger that the sensor is located on from closing any tighter and will therefore be able to pick up delicate objects without crushing them. This project looks to extend our knowledge in the use of sensors in prosthetics and various other fields in giving a robotic hand a better sense of the world around it and allowing it to interact more efficiently and accurately.