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Development of a Customized Multi-sensory Detection Tactile Sensor Module for Commercial Robot Hands

Authors:
Jin-Seok Jang
Bo-Gyu Bok
Min-Seok Kim

Keywords: tactile sensor module; 3 axis force; pressure; temperature; robot hand.

Abstract:
We have developed a hybrid tactile sensor module that is customized for the Allegro robot hand, a commercial robot hand. The tactile sensor module consists of a 3-axis force sensor and temperature sensor and pressure sensor. Four commercial semiconductor strain gauges are attached to a specially designed metal mechanism to implement the three-axis force sensor. Based on the three-axis force measurements, it detects various physical quantities such as the direction, magnitude, and vibration of the force. The pressure sensor consists of a total of 64 high-performance pressure cells arranged in an 8 x 8 array, covering an area of about 3 cm x 3 cm to detect pressure distribution with high spatial resolution. The temperature sensor uses a commercial thermistor capable of measuring from -10°C to 80°C to detect the object's temperature. We have demonstrated through experiments that the robot fingertip module developed can detect various senses using the internal 3-axis force sensor, pressure sensor, and temperature sensor.

Pages: 4 to 6

Copyright: Copyright (c) The Government of South Korea, 2025. Used by permission to IARIA.

Publication date: October 26, 2025

Published in: conference

ISSN: 2308-3514

ISBN: 978-1-68558-305-7

Location: Barcelona, Spain

Dates: from October 26, 2025 to October 30, 2025