부산대학교 도서관

In order to overcome the aging society of Japan, the robot for daily tasks are widely researched and developed. In particular, the pick-and-place is the popular tasks well researched since the dawn of robotics, such as sorting of bulk goods or packing of prepared foods into lunch boxes. In recent years, soft robotic hands with tactile sensing have been attracting attention for grasping a variety of objects. As one of those hand, Universal Vacuum Hand (here in after UVH) utilizes the volume resistivity of the conductive powder. UVH consists of the elastic membrane bag with the conductive powder, that can detect the contact with the object to be grasped, but it is difficult to measure applied force to the object to be grasped. In this paper, we propose a novel measurement method with mixed powder of conductive and non-conductive ones. To evaluate the load applied to the UVH from the volume resistivity of the mixed powder, we report the effects of measurement elements, such as vacuum pressure, shape of electrodes.