Finger with tactile sensor for robot hand and robot hand with tactile sensor using same

A tactile sensor-attached finger for a robotic hand configured to grip a grip target, the finger comprising:

• a finger member including
• a palm surface to be in contact with the grip target,
• a back surface opposite to the palm surface,
• an end surface adjacent to the palm surface and the back surface on ends of the palm surface and the back surface in an extension direction in which the palm surface and the back surface extend, and
• a first side surface and a second side surface adjacent to the palm surface and the back surface in a direction intersecting with the extension direction of the palm surface and the back surface;
• a tactile sensor being a film attached to an outer surface of a housing included in the finger member, the tactile sensor including a pressure-sensitive area overlapping the palm surface, at least one of the end surface, the first side surface, and the second side surface;
• and
• a protective layer continuously covering a full surface of the tactile sensor and a part or all of the first and second side surfaces of the finger member, the protective layer including a protrusion facing the palm surface of the finger member and covering the pressure-sensitive area in the tactile sensor, the protrusion protruding in a thickness direction more than a portion of the protective layer covering areas at or adjacent to boundaries between the palm surface and the first and second side surfaces of the finger member.

A tactile sensor-attached finger for a robotic hand for gripping a grip target, the finger comprising:

• a finger member including
• a palm surface to be in contact with the grip target,
• a back surface opposite to the palm surface,
• an end surface adjacent to the palm surface and the back surface on ends of the palm surface and the back surface in an extension direction in which the palm surface and the back surface extend, and
• a first side surface and a second side surface adjacent to the palm surface and the back surface in a direction intersecting with the extension direction of the palm surface and the back surface;
• a tactile sensor being a film attached to an outer surface of a housing included in the finger member, the tactile sensor including a pressure-sensitive area overlapping the palm surface and at least one of the end surface, the first side surface, and the second side surface,
• wherein the tactile sensor is a capacitive pressure-sensitive sensor including a first electrode film including a first base film with a first electrode on the first base film, a second electrode film including a second base film facing the first base film with a second electrode on the second base film, the tactile sensor is attached to the finger member with the first base film facing the finger member.