Development of a finite element model for the design of a sensorised fingertip.

In this thesis we propose a finite element model to support the design of a robotic sensorised fingertip using a Force Sensitive Resistor (FSR) sensor. Design alternatives were evaluated with a Pugh matrix, and five prototypes were fabricated and tested to assess their functionality. A 2D COMSOL Multiphysics simulation was developed and fitted to experimental data. The fitted model was then used to simulate new geometries with a silicone structure to predict the response of different designs of the sensor. Results showed FSR feasibility for the application but also revealed FEM limitations, suggesting refinements to the physical model.