Development of a flexible structural contact force sensor for a grasping task by robot hand
Development of a flexible structural contact force sensor for a grasping task by robot hand
复制标题
开发用于机器人手抓取任务的柔性结构接触力传感器
DOI：
10.1109/icit.2003.1290254
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发表时间：
2003
期刊：
影响因子：
--
通讯作者：
H. Okano
中科院分区：
文献类型：
--
作者：
N. Saito;S. Kajikawa;H. Okano
本文提出了一种新型的接触力传感器。该传感器可检测接触位置，并可测量四轴接触力。该传感器的接触部分由硅橡胶组成，使该传感器能够与物体柔和接触。给出了该传感器的结构、接触位置和四轴接触力的计算方法。结构灵活是该传感器的特点之一。我们确认当传感器与环境接触时，该特征是否可用于吸收冲击力。此外，还展示了该传感器在涉及机械手抓取对象的任务中的有效性。
In this paper, we propose a new type of contact force sensor. This sensor can detect contact location and can measure four-axis contact forces. The contact part of this sensor is composed of a silicon rubber, allowing this sensor to contact to objects softly. The structure of this sensor and the methods for calculating the contact location and the four-axis contact forces are proposed. A flexible structure is one of the characteristics of this sensor. We confirm if this character is available to absorb impact force when the sensor and environment are in contact. In addition, the effectiveness of this sensor in a task involving the grasping of an object by a robot hand is also demonstrated.
手指状触觉传感器的开发
DOI：
--
发表时间：
2011
期刊：
2011 International Symposium on Computational Models for Life Science
影响因子：
--
作者：
Yuko Akikawa;Yuka Koda;Naoki Saiwaki;Natsuki Komoda;Katsuaki Suganuma;Yasutoshi Makino and Takashi Maeno
通讯作者：
Yasutoshi Makino and Takashi Maeno