Dynamic Focusing (DF) Cone-Based Omnidirectional Fingertip Pressure Sensor with High Sensitivity in a Wide Pressure Range.

It is essential to detect pressure from a robot's fingertip in every direction to ensure efficient and secure grasping of objects with diverse shapes. Nevertheless, creating a simple-designed sensor that offers cost-effective and omnidirectional pressure sensing poses substantial difficulties. This is because it often requires more intricate mechanical solutions than when designing non-omnidirectional pressure sensors of robot fingertips. This paper introduces an innovative pressure sensor for fingertips. It utilizes a uniquely designed dynamic focusing cone to visually detect pressure with omnidirectional sensitivity. This approach enables cost-effective measurement of pressure from all sides of the fingertip. The experimental findings demonstrate the great potential of the newly introduced sensor. Its implementation is both straightforward and uncomplicated, offering high sensitivity (0.07 mm/N) in all directions and a broad pressure sensing range (up to 40 N) for robot fingertips.