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High-Speed, Scalable Sensor Readout Architecture for Dexterous Hands Based on Shift Registers

The paper proposes a scalable analog sensor readout architecture based on serial-in parallel-out (SIPO) shift registers, in which sensor modules can be expanded using only three signal lines. The authors integrated 16 joint sensor modules and one four-channel tactile sensor module on a tendon-driven dexterous hand, achieving full scanning of 20 channels at 1 kHz and stable operation up to 1.5 kHz; the maximum slope absolute percentage error of the joint sensors was 0.446%, and on the tactile side an LSTM model performed force estimation and contact-location classification at 1 kHz.

Part of the event: Dexterous hand sensor readout architecture achieves 20-channel 1 kHz scanning

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