Computer Engineering Commons^™

Grasp And Stress Analysis Of An Underactuated Finger For Proprioceptive Tactile Sensing, Mahyar Abdeetedal, Mehrdad Kermani Ph.D., P.Eng.

Electrical and Computer Engineering Publications

This paper presents the design and evaluation of a new sensorized underactuated self-adaptive finger. The design incorporates a two-degrees-of-freedom link-driven underactuated mechanism with an embedded load cell for contact force measurement and a trimmer potentiometer for acquiring joint variables. The utilization of proprioceptive (internal) sensors results in tactile-like sensations in the finger without compromising the size and complexity of the proposed design. To obtain an optimum finger design, the placement of the load cell is analyzed using finite element method. The design of the finger features a particular rounded shape of the distal phalanx and specific size ratio between the …