{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,7,16]],"date-time":"2026-07-16T05:41:03Z","timestamp":1784180463187,"version":"3.55.0"},"reference-count":49,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2018,7,26]],"date-time":"2018-07-26T00:00:00Z","timestamp":1532563200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper proposes a novel underwater dexterous hand structure whose fingertip is equipped with underwater tactile force sensor (UTFS) array to realize the grasping sample location determination and force perception. The measurement structure, theoretical analysis, prototype development and experimental verification of the UTFS are purposefully studied in order to achieve accurate measurement under huge water pressure influence. The UTFS is designed as capsule shape type with differential pressure structure, and the external water pressure signal is separately transmitted to the silicon cup bottom which is considered to be an elastomer with four strain elements distribution through the upper and lower flexible contacts and the silicone oil filled in the upper and lower cavities of UTFS. The external tactile force information can be obtained by the vector superposition between the upper and lower of silicon cup bottom to counteract the water pressure influence. The analytical solution of deformation and stress of the bottom of the square silicon cup bottom is analyzed with the use of elasticity and shell theory, and compared with the Finite Element Analysis results, which provides theoretical support for the distribution design of four strain elements at the bottom of the silicon cup. At last, the UTFS zero drift experiment without force applying under different water depths, the output of the standard force applying under different water depth and the test of the standard force applying under conditions of different 0 \u2218C\u201330 \u2218C temperature with 0.1 m water depth are carried out to verify the performance of the sensor. The experiments show that the UTFS has a high linearity and sensitivity, and which has a regular zero drift and temperature drift which can be eliminated by calibration algorithm.<\/jats:p>","DOI":"10.3390\/s18082427","type":"journal-article","created":{"date-parts":[[2018,7,26]],"date-time":"2018-07-26T11:32:07Z","timestamp":1532604727000},"page":"2427","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":18,"title":["Design, Analysis and Experiment of a Tactile Force Sensor for Underwater Dexterous Hand Intelligent Grasping"],"prefix":"10.3390","volume":"18","author":[{"given":"Jianjun","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi\u2019an 710072, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weidong","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi\u2019an 710072, China"},{"name":"Science and Technology on Underwater Information and Control Laboratory, Northwestern Polytechnical University, Xi\u2019an 710072, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Li\u2019e","family":"Gao","sequence":"additional","affiliation":[{"name":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi\u2019an 710072, China"},{"name":"Science and Technology on Underwater Information and Control Laboratory, Northwestern Polytechnical University, Xi\u2019an 710072, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yiwen","family":"Zhang","sequence":"additional","affiliation":[{"name":"The 705 Research Institute, China Shipbuilding Industry Corporation, Xi\u2019an 710077, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Weijiang","family":"Tang","sequence":"additional","affiliation":[{"name":"School of Marine Science and Technology, Northwestern Polytechnical University, Xi\u2019an 710072, China"},{"name":"The 705 Research Institute, China Shipbuilding Industry Corporation, Xi\u2019an 710077, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2018,7,26]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1999","DOI":"10.1007\/s00542-016-2961-9","article-title":"Design and characteristic evaluation of a novel amphibious spherical robot","volume":"23","author":"Guo","year":"2017","journal-title":"Microsyst. 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