Title :
A new structure for a fingertip force sensor
Author :
Huang, Yu-Chung ; Chang, Ying-Hwi ; Chang, Wei-Shu
Author_Institution :
Inst. of Electron., Nat. Chiao Tung Univ., Hsinchu, Taiwan
fDate :
9/1/1999 12:00:00 AM
Abstract :
Presents a structural design for force/torque fingertip sensors to sense planar forces. Not only can the resolution be increased by reducing the condition number of the calibration matrix, but also the accuracy can be enhanced by a precise and simple calibration method. Moreover, the theoretical analysis and design procedure of the proposed structure are included in this paper, and experimental results demonstrate the proposed design
Keywords :
calibration; dexterous manipulators; force sensors; matrix algebra; torque measurement; calibration matrix; condition number; fingertip force sensor; planar forces; structural design; Calibration; Capacitive sensors; Fingers; Force measurement; Force sensors; Robot sensing systems; Sensor arrays; Torque; Transducers; Transmission line matrix methods;
Journal_Title :
Mechatronics, IEEE/ASME Transactions on
DOI :
10.1109/3516.789687
