FURI | Spring 2018

Low Cost Sensing

Sensing forces in robotic grippers can be costly and complicated. This project investigates modifying flex sensors at a lower cost. The deflection of links in a robotic gripper can be used to sense the location, magnitude and number of contact forces by matching the link curvature of existing beam models. This concept is embodied using multiple flex sensors in line to locate force positions using the each sensor’s characterized bend. This allows for detection and avoidance of high-force contact situations. Collected data can be used to model the bend in the flex sensor and equate it to forces.