High Dynamic Range Force Sensing of a Robot Hand Combining Signals on Tip and Wrist
High Dynamic Range Force Sensing of a Robot Hand Combining Signals on Tip and Wrist
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结合尖端和手腕信号的机器人手的高动态范围力传感
DOI：
10.1109/lra.2022.3146512
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发表时间：
2022
影响因子：
5.2
通讯作者：
Tsuji Toshiaki
中科院分区：
文献类型：
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作者：
Horikoshi Tomoki;Sakaino Sho;Tsuji Toshiaki
当机器人抓取工具时，需要确定工具尖端的力。然而，手的惯性力引起的振动噪声是降低力感测性能的主要因素。在这项研究中，我们开发了一种夹具力传感器，它使用指尖的结构作为弯曲元件，并将响应与手腕力传感器的响应相结合，以确保高力传感性能。可测量较小的外力，负载能力高。夹具力传感器的测量范围为0.005 N至10 N，过载能力超过50 N。我们通过实验证明，手部振动不会降低力检测性能，并且可以扩展力的动态范围。另外，我们通过绘图演示表明可以实现力的微调。
When a robot grasps a tool, the force at the tip of the tool needs to be determined. However, the vibration noise caused by the inertial force of the hand is a major factor that degrades the force-sensing performance. In this study, we develop a gripper force sensor that uses the structure of the fingertip as a flexure element and integrates the response with that of a wrist force sensor to ensure high force-sensing performance. It can measure small external forces and has high load capacity. The measurement range of the gripper force sensor is 0.005 N to 10 N, and the overload capacity exceeds 50 N. We experimentally demonstrate that hand vibration does not degrade the force detection performance, and that the dynamic range of the force can be extended. In addition, we show through a drawing demonstration that a fine adjustment of the force can be achieved.