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A fingerprint sensor based on PVDF film for a manipulator

ABSTRACT In this paper, a fingerprint sensor based on polyvinylidene fluorid (PVDF) film is proposed, which can make a manipulator equipped with a sensor realize the ability of soft grasping. The sensor is composed of a PVDF film, two rubber membranes and a copper layer. The sensor can detect tactile and slip force, and it has high sensitivity to thermal sensation. Experiments are carried out to demonstrate that the manipulator equipped with the sensor can grasp an egg and a paper cup with water without damage. Experiment results show that the manipulator also can bounce off automatically when the temperature of the object is close to or more than 60 degrees Celsius. The error is less than 3 cm when smooth move distance is 0.6 m. Compared to traditional manipulators, the manipulator with the fingerprint sensor overcomes the shortcomings of failing to judge the clamping force and thermal sensation independently, which improves the bionic function.