High sensitivity slip sensor using pressure conductive rubber for dexterous grasp and manipulation
High sensitivity slip sensor using pressure conductive rubber for dexterous grasp and manipulation
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DOI：
10.1109/icsens.2010.5690469
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发表时间：
2010-11
期刊：
影响因子：
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通讯作者：
S. Teshigawara;Satoru Shimizu;T. Tsutsumi;Yosuke Suzuki;A. Ming;M. Shimojo;M. Ishikawa
中科院分区：
文献类型：
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作者：
S. Teshigawara;Satoru Shimizu;T. Tsutsumi;Yosuke Suzuki;A. Ming;M. Shimojo;M. Ishikawa
滑动检测触觉传感器对于实现机器人手的类人抓握运动是必不可少的。在以前的研究中，我们开发了一种灵活，薄，重量轻的滑动传感器，利用压力导电橡胶的电阻变化。该传感器通过利用物体滑动之前的复杂电阻变化来区分接触和初始滑动。在本研究中，我们评估了在不同初始法向力和物体表面属性变化的情况下输出的稳定性。最后，我们描述了一个多指机器人手的夹持力的调整实验。
Slip-detecting tactile sensors are essential for achieving human-like gripping motion with a robot hand. In previous research, we developed a flexible, thin and lightweight slip sensor that exploits a resistance change of the pressure conductive rubber. This sensor distinguishes between both contact and initial slip by using a complicated resistance change just before slippage of object is generated. In this study, we evaluate the stability of the output in the case of differing initial normal forces and changing surface properties of an object. Finally, we describe an experiment on adjustment of the gripping force by a multi-fingered robot hand.