Grasping force detection from objects with large deformation. (IMAGE)

Science China Press

Grasping force detection from objects with large deformation.

Caption

(a) Schematic diagrams of the ZPR sensor attached on different surface with 60° and 150° curvature. (b) Schematic diagrams of the ZPR sensor before (top) and after (bottom) the loading of external force. (c) The cross-sectional diagrams of planes shown in (b) showing sensor_Y and the Ecoflex layer before (top) and after (bottom) the loading of external force. (d) Local strain contour maps of sensing units in membranes with (left) and without (right) ZPR structure. (e-f) Resistance response of the sensor_Y in ZPR sensors (e) and sensors without ZPR structure (f). (g) Response of the sensor_Y in ZPR sensors and sensors without ZPR structure during the task of grasping a paper cup.

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