Title: A review of shear/slip sensor for improving robotic and human dexterity

Authors: Yuting Zhu; Tim Giffney

Addresses: Department of Engineering Science, University of Auckland, New Zealand ' Department of Mechanical Engineering, University of Canterbury, New Zealand

Abstract: The ability to mimic the tactile feedback of the human hand to improve its dexterity, grasp/gripping and manipulation has been widely considered in robotic development. During robotic grasping, three forces are produced: grasp force (pressure), friction force, and tangential force (shear). Most of the tactile sensors are focused on pressure and normal force. However, shear stress is of great importance in manipulation for the prediction of gripping slippage and the implementation of force control. Improved measurement of shear stress can facilitate robots that mimic human-like robot gripping techniques and achieve advanced manipulation tasks. This paper reviews the state-of-the-art of shear/slip sensors for improving robotic and human dexterity. Tactile shear sensors for robotics and biomedical are reviewed, with an analytical comparison of the advantages and disadvantages of different sensing technologies.

Keywords: tactile sensor; shear stress; robotic; gripping.

DOI: 10.1504/IJBBR.2022.128680

International Journal of Biomechatronics and Biomedical Robotics, 2022 Vol.4 No.1, pp.32 - 44

Received: 01 Sep 2022
Accepted: 31 Oct 2022
Published online: 01 Feb 2023 *

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