Underactuated multi-fingered hand with tactile sensor hardware system based on PVDF

PAN Xiao-ye1， HU Ting1， LIU Feng-chen2，GAO Da-niu1
（1. Faculty of Mechanical Engineering & Automation， Zhejiang Sci-Tech University，Hangzhou 310018， China；
2. Hangzhou Wahaha Group Co. Ltd.， Hangzhou 310009， China）

Abstract： In order to solve the inaccurate problem of  a traditional fruit-vegetable harvesting underactuated multi-fingered hand grasping force， a underactuated multi-fingered hand with tactile system was presented based on polyvinylidene fluorine（PVDF） piezoelectric film technology. The system consists of signal acquisition and signal processing，there were respectively designed that tactile sensor，a charge amplifier circuit，a low pass filtering，a industrial frequency trapped wave，voltage amplifier and so on. The experimental results show that fruits and vegetables be unwounded grabbed by the underactuated multi-fingers hand，and has the wide application prospect.
Key words：underactuated robotic hand；self-adaptability；tactile sensor；polyvinylidene fluorine（PVDF）