02 · SUBSECTIONPrehensile Hand System
Tactile fingertip
6 × 6 capacitive tactels under a 2 mm silicone pad, with a 3-axis force cell at the bone.
Each fingertip carries a 6 × 6 array of capacitive tactels under a 2 mm silicone pad, plus a 3-axis MEMS force cell at the bone. The control loop resolves both normal pressure and incipient slip — the moment an object starts to slide, grip force rises before the object falls.
Spatial resolution is 1.2 mm; refresh is 2 kHz.
SPSpecifications