RESEARCH ON MINIATURE FIVE DOF FINGERTIP FORCE/TORQUE SENSOR

The paper presents a new miniature five DOF force/toque sensor for multi-finger dexterous hand, and a highly integrated structure for the elastomer is used in the sensor. The static calibration of the sensor is implemented by using the least square theory. The successful design of the miniature fingertip force/torque sensor is the basis of the research on multisensory dexterous robot hand.