Dynamic contact sensing of soft planar fingers with tactile sensors
Dynamic contact sensing of soft planar fingers with tactile sensors
复制标题
使用触觉传感器对软平面手指进行动态接触传感
DOI：
10.1109/robot.2001.932610
复制
发表时间：
2001
期刊：
影响因子：
--
通讯作者：
K. Umeda
中科院分区：
文献类型：
--
作者：
G. Kinoshita;Y. Kurimoto;H. Osumi;K. Umeda
研究了一种利用带触觉传感器的柔性平面手指抓取物体，动态估计环境与物体之间接触力的方法。作用在被抓取物体上的外部接触力使触觉传感器产生位移分布和力分布。我们提出了一种方法的动态触觉图像采集的伪视频速率的分布。实验结果表明，由于物体的偏转和根据外部接触力作用在手指上的力矢量的大小和方向的触觉图像流的测量。根据触觉图像分布，在15%以内估计作用于抓握对象的外力的接触位置。
Focuses on a method of estimating contact force dynamically between environment and an object, which is grasped by the soft planar fingers with tactile sensors. The external contact force acting on the grasped object causes the tactile sensors to generate the displacement distributions and the force distributions. We present a method of dynamic tactual image acquisitions for both distributions at the pseudo video rate. Experimental results show the measurement of the tactual image flows due to the deflection of an object and the magnitude and orientation of force vectors operating on the finger according to the external contact force. The contact position of the external force acting on the grasped object is estimated within 15% from the tactual image distributions.
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