کنفرانس مهندسی برق ایران

صفحه اصلی / سی و سومین کنفرانس بین المللی مهندسی برق

Design, Prototyping and Performance Analysis of a Barometric-Based Soft Force Sensor

نویسندگان :

Mohammad Reza SheykhAzimi¹ Mohammad Reza Nayeri² Mehdi Tale Masouleh³ Ahmad Kalhor⁴

1- University of Tehran 2- University of Tehran 3- University of Tehran 4- University of Tehran

کلمات کلیدی :

Soft force sensor،barometric sensor،soft robotics،grasp force

چکیده :

This paper presents the design and fabrication of a soft tactile force sensor for robotic fingertips, utilizing barometric sensors embedded within a flexible silicone mold. The proposed sensor captures tactile feedback through pressure variations caused by external forces. The sensor’s performance is evaluated through a series of controlled experiments, focusing on its ability to measure grasp force, and adjust it to optimize interaction with soft and fragile objects. By embedding the sensor into a flexible silicone layer, it offers enhanced accuracy and reliability for robotic grasping tasks. A key innovation of this work lies in the modification of existing sensors to enhance sensitivity, accuracy, and broaden the force measurement range. Finally, the proposed sensor achieves precision of lower than 2.8 mN, ensuring precise force detection. The findings contribute to advancing soft robotics by improving the interaction between robotic systems and delicate objects, making this technology applicable in various fields such as automated manufacturing, medical robotics, and assistive technologies.