3D Printed Robotic Hand with Embedded Touch Sensors

Ntagios, M. , Escobedo, P. and Dahiya, R. (2020) 3D Printed Robotic Hand with Embedded Touch Sensors. In: IEEE International Conference on Flexible and Printable Sensors and Systems (FLEPS 2020), Manchester, UK, 16-19 Aug 2020, ISBN 9781728152783 (doi: 10.1109/FLEPS49123.2020.9239587)

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This paper presents a 3D printed robotic hand designed to have two capacitive touch sensors embedded in the distal phalanges of the fingers. Additionally, the readout electronics have been designed and fabricated to obtain the digital values of the capacitances and to use this data for touch feedback control. The touch or pressure sensors were fabricated by 3D printed electrodes using copper based conductive filament and a two part-rubber as the dielectric. The sensitive rmgertip was tested with dynamic and static stimuli and the average sensitivity of the sensors was found to be 0.6% N-1. The proof-of-concept robot hand developed here shows that the concept could be applied to develop the 3D printed embedded sensorised systems or instrumented objects needed for applications such as internet of things and human-computer interaction.

Item Type:Conference Proceedings
Glasgow Author(s) Enlighten ID:Ntagios, Markellos and Escobedo, Dr Pablo and Dahiya, Professor Ravinder
Authors: Ntagios, M., Escobedo, P., and Dahiya, R.
College/School:College of Science and Engineering > School of Engineering > Electronics and Nanoscale Engineering
Copyright Holders:Copyright © 2020 IEEE
Publisher Policy:Reproduced in accordance with the copyright policy of the publisher

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Project CodeAward NoProject NamePrincipal InvestigatorFunder's NameFunder RefLead Dept
300756NPIF EPSRC Doctoral - University of Glasgow 2017Neil BoweringEngineering and Physical Sciences Research Council (EPSRC)EP/R512266/1S&E - Research Administration
301728Engineering Fellowships for Growth: Printed Tactile SKINRavinder DahiyaEngineering and Physical Sciences Research Council (EPSRC)EP/R029644/1ENG - Electronics & Nanoscale Engineering