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Related Experiment Video

Updated: Jul 7, 2026

Measurement of Vibration Detection Threshold and Tactile Spatial Acuity in Human Subjects

Measurement of Vibration Detection Threshold and Tactile Spatial Acuity in Human Subjects

Published on: September 1, 2016

Robot gripper control system using PVDF piezoelectric sensors.

M F Barsky¹, D K Lindner, R O Claus

¹Bradley Dept. of Electr. of Electr. Eng., Virginia Polytech. Inst. and State Univ., Blacksburg, VA.

IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Control

|January 1, 1989

Summary

This study introduces a new robot gripper control system using polyvinylidene fluoride (PVDF) piezoelectric sensors for active force damping. The system significantly improves gripper response time and stability, enhancing robotic manipulation capabilities.

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Last Updated: Jul 7, 2026

Measurement of Vibration Detection Threshold and Tactile Spatial Acuity in Human Subjects

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Rod-based Fabrication of Customizable Soft Robotic Pneumatic Gripper Devices for Delicate Tissue Manipulation

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Published on: August 2, 2016

Area of Science:

Robotics
Control Systems Engineering
Materials Science

Background:

Robotic grippers require precise force control for delicate object manipulation.
Existing control systems often lack rapid response and damping capabilities.
Piezoelectric sensors offer a novel approach to enhance robotic gripper feedback.

Purpose of the Study:

To develop and evaluate a novel robot gripper control system using PVDF piezoelectric sensors.
To investigate the effectiveness of proportional and derivative (PD) control with PVDF sensor feedback for force damping.
To quantify the performance improvements in terms of response time and overshoot.

Main Methods:

Implementation of a control system integrating PVDF piezoelectric sensors and strain-gauge force sensors.
Utilizing the current output from PVDF sensors, proportional to the rate of force change, for derivative control.
Testing the system on an instrumented Rhino XR-1 manipulator hand and analyzing experimental data.

Main Results:

The novel control system demonstrated a significant decrease in force step response rise time by 88%.
The system maintained a monotonic, zero-overshoot response, indicating high stability.
Inclusion of rate feedback from PVDF sensors increased the damping ratio of dominant poles.

Conclusions:

PVDF piezoelectric sensors effectively enable active force damping in robot grippers.
The developed PD control system enhances gripper performance, improving speed and stability.
This approach offers a promising method for advanced robotic manipulation requiring precise force control.