中文摘要：

利用PVDF压电薄膜的压电敏感特性，设计了一种用于机器人手爪的接触力传感器，包括一个电荷放大装置，并建立了数据采集和处理系统。所设计的传感器具有体积小，柔顺性好，信号处理简单的特点。实验分析表明传感器可很好地满足机器人手爪的要求，为机器人手爪提供接触力信号，以实现稳定可靠地抓取。

英文摘要：

This paper presents a contact force sensor for robotic hand applications using the piezoelectric effect of PVDF film. A simple charge amplifier and data collecting system are described. The sensor has the characteristics of small size, good flexibility, and simple signal processing. Results indicate that the sensor provides reasonable performances for robotic hand applications. The feedback of contact conditions between the hand and the object aids steady and reliable manipulation.