At least one of these sensors will be used to measure the contact presure of an object on the finger of the robot hand. Several sensors have been selected to test.

ADP51A11 - A simple 5V logic level analog output sensor. Simply requires a 5v power connection and offers a linear voltage response ranging between approximatly 0.5v - 4.5v.

This sensor should be easy to use and require minimal external circuity. However its large size could make mounting within the finger harder, requiring a redesign of the internal structure.

2SMPP-02 - A compact, negative pressure compatable sensor requiring more complex support circuity.

This sensor requires a 100uA constant current source to power it, and offers an output voltage ranging from approximatly -45 to 38mV, and so requires external amplification from an instrumentation amplifier.

The very low output voltage makes this sensor more suceptable to noise and so may require the support circuity to be clos. However, the smaller size may ,ake this sensor desirable as itcan be integrated more easily into the body of the finger.

RS PRO Wire Lead Strain Gauge 3.5mm - Conventional strain gauge, would require external amplification circuity but may offer a more simple implementation.

this strain gauge would require a Wheatstone bridge and instrumentation amplifier to read this sensor.

This sensor is by farthe smallest andso is most flexable in mounting. However the sensetive support circutry could add complications.