Development of a Fingertip-type 6D Force Sensor and Error Evaluation of Contact Point Sensing
Development of a Fingertip-type 6D Force Sensor and Error Evaluation of Contact Point Sensing
复制标题
指尖式6D力传感器的开发和接触点传感的误差评估
DOI：
10.7210/jrsj.14.1221
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发表时间：
1996
期刊：
影响因子：
--
通讯作者：
T. Omata
中科院分区：
文献类型：
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作者：
K. Nagata;M. Tsumura;T. Omata
我们开发了一种6维力/力矩传感器，它可以安装在一个多指手的指尖。已知指尖和抓握物体之间的接触信息，即，接触点位置、接触力和指向接触表面法线的接触力矩，可以使用6轴力/扭矩传感器的输出数据来计算。然而，6轴力/扭矩传感器的输出数据通常受到噪声的干扰。为了实现精确的接触信息感知，需要对接触信息计算中噪声引起的误差进行评估。本文对误差进行了分析，指出用接触点计算值与应变片输出值之间的微分效应雅可比矩阵的最大奇异值来评价误差。基于这种误差分析，我们展示了一种提供精确接触信息的传感技术。我们还表明，应被用来感测索尔兹伯里和Bicchi分别提出的硬接触和软接触的算法之间的接触点。
We developed a 6-axis force/torque sensor which can be mounted in the fingertip of a multifingered hand. It is known that contact information between a fingertip and a grasped object, that is, contact point location, a contact force, and a contact moment directed to the normal of the contact surface can be calculated using the output data of a 6-axis force/torque sensor. The output data of a 6-axis force/torque sensor is, however, usually disturbed by a noise. For precise contact information sensing, we need to evaluate the error caused by the noise in the calculation for the contact information. This paper analyzes the error and shows that the maximum singular value of the Jacobian which represents the differential effect between the calculated contact point and the strain-gage output can be used to evaluate the error. Based on this error analysis, we show a sensing technique which provides precise contact information. We also show which should be used to sense a contact point between the algorithms for hard and soft contacts proposed by Salisbury and Bicchi, respectively.
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