Gripping control of delicate and flexible object by electromotive manipulator with proximity and tactile combo MEMS sensor

In this paper, we have demonstrated usefulness of the electromotive manipulator system with a developed MEMS sensor to skillful gripping of various objects. This MEMS sensor is responsive to light with the photoconductive effect in Si and force with resistance change in the strain gauge layer on microcantilever structures, as a result, the sensor can detect both proximity and contact. In addition, since the cantilevers are located three-fold symmetry, the direction of applied force can also be detected. It is demonstrated that the proposed manipulator system with the developed sensor can grip not only rigid bodies but also gripping flexible objects.