A Solid-liquid Composite Flexible Bionic Tactile Sensor for Dexterous Hands

The sense of touch is fundamental to grasping and manipulating objects. Disabled prosthetic hands and robot dexterous hands need tactile sensors to provide tactile information to ensure that when grasping objects, the object will not be broken because the grasping force is too large, and the object will not slide because the grasping force is too small. At present, some tactile sensors have complex structures, high production costs, and are not easy to integrate. In this paper, a novel biomimetic 3D tactile sensor based on magnetic field is proposed. Most parts can be 3D printed, simple to manufacture, can measure three-dimensional forces, and can be easily integrated into prosthetic hands and robotic hands. Through experimental tests, the designed tactile sensor has a wide measuring range, can detect 15 N normal force and ±6N tangential force, and has a small lag error, which can improve the tactile perception ability of the manipulator when grasping objects.