Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand
Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand
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DOI：
10.1109/toh.2009.47
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发表时间：
2010-01-01
影响因子：
2.9
通讯作者：
Tachi, Susumu
中科院分区：
文献类型：
--
作者：
Sato, Katsunari;Kamiyama, Kazuto;Tachi, Susumu
据信，使用触觉传感器来测量力的大小、方向和分布将使机器人手能够执行灵巧的操作。因此，我们开发了一种新型的手指形状的触觉传感器使用GelForce技术。GelForce是一种基于视觉的传感器，可用于测量力矢量或表面牵引场的分布。GelForce的简单结构使我们能够为机器人手开发一种紧凑的手指形GelForce。GelForce是在弹性理论的基础上开发的，可用于使用转换方程计算表面牵引场。然而，当传感器的弹性体具有诸如手指形状的复杂形状时，不能解析地求解该转换方程。因此，我们提出了一种观察的方法，并构建了一个原型的手指形状的GelForce。通过使用这个原型，我们评估的手指形状的GelForce的基本性能。然后，我们进行了现场测试，通过使用机器人手进行抓取操作。该测试的结果表明，使用观察方法，手指形状的GelForce可以成功地用于机器人手。
It is believed that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous operations. Therefore, we develop a new type of finger-shaped haptic sensor using GelForce technology. GelForce is a vision-based sensor that can be used to measure the distribution of force vectors, or surface traction fields. The simple structure of the GelForce enables us to develop a compact finger-shaped GelForce for the robotic hand. GelForce that is developed on the basis of an elastic theory can be used to calculate surface traction fields using a conversion equation. However, this conversion equation cannot be analytically solved when the elastic body of the sensor has a complicated shape such as the shape of a finger. Therefore, we propose an observational method and construct a prototype of the finger-shaped GelForce. By using this prototype, we evaluate the basic performance of the finger-shaped GelForce. Then, we conduct a field test by performing grasping operations using a robotic hand. The results of this test show that using the observational method, the finger-shaped GelForce can be successfully used in a robotic hand.