Design of tactile sensor array on electric gripper jaws for wire gripping recognition

Jui Yiao Su, Wen Ching Ko, Yan Chen Liu, Chang Ho Liu, Jwu-Sheng Hu, Hong Chi Ku, Chung Chun Kung

Research output: Contribution to journalConference articlepeer-review

6 Scopus citations

Abstract

In this study, we proposed an electric gripper jaw with tactile sensor array for wire harness applications. The tactile sensor is made of piezoresistive material through screen printing technology. The array is fabricated on a flexible film (20mm × 20mm × 250μm) and contains 100 sensor cells (1.3mm × 1.3mm). The pressure range of the tactile sensor is 10 to 580 psi. The sensors were modularized and embedded onto electric gripper jaws to locate and recognize the gripped wires. The fuzzy c-regression models (FCRM) clustering algorithm was applied to deal with ambiguous gripping situations such as multiple or bending wires. Experiment results demonstrated the effectiveness and the feasibility of the presented approach. The overall system is at the same time highly sensitive and robust, cheap to manufacture and can be made to have almost any size and shape for industrial purpose.

Original languageEnglish
Article number6899450
Pages (from-to)1014-1019
Number of pages6
JournalIEEE International Conference on Automation Science and Engineering
Volume2014-January
DOIs
StatePublished - 1 Jan 2014
Event2014 IEEE International Conference on Automation Science and Engineering, CASE 2014 - Taipei, Taiwan
Duration: 18 Aug 201422 Aug 2014

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