부산대학교 도서관

This paper describes a vacuum suction pad with a tactile sensor that can evaluate and predict the fall of a grasped object. First, the research background, usefulness of the suction pad, and related studies are described. Next, the principle of the conductive sponge substrate and amplifier substrate, which constitute the developed device, and the tactile suction pad fabricated by integrating them are described. Then, experiments to evaluate whether the developed device can ”judge whether an object is grasped” and ”predict whether an object will fall” are described, as well as the results and discussion of the experiments. Finally, the paper concludes and discusses future prospects.