Sensors

We have utilized Shape Deposition Manufacturing in much of the robot hand research we have undertaken and explored the integration of sensors directly into the structures of the hands. These include Hall-effect sensors for joint angle sensing, embedded strain gauges for 3 axis force measurements, optical reflectance sensors for tactile sensing, and piezoelectric polymers and accelerometers for contact detection. Our most recent work has involved developing a low cost contact sensor based upon tracking the resonant frequency of the compliant digits using an embedded accelerometer.