DocumentCode
2035359
Title
Impedance force control of robot hand using pressure sensor
Author
Kobayashi, Daisuke ; Watanabe, Kajiro ; Kobayashi, Kazuyuki ; Kurihara, Yosuke
Author_Institution
Dept. of Syst. Eng., Hosei Univ., Koganei, Japan
fYear
2011
fDate
13-18 Sept. 2011
Firstpage
1981
Lastpage
1984
Abstract
The progress in robotic technology has led to greatly improved abilities of the robot hand. However, its complex hand movements require a more complex structure. In this study, we attempted to simplify the robot hand structure by using bilateral control. In our experimental setup, when the robot hand grips the object, a sensing signal is fed back to the robot operator. The use of a pressure sensor allows more accurate judgment on whether or not the robot hand touched the object.
Keywords
force control; manipulators; pressure sensors; bilateral control; hand movements; impedance force control; pressure sensor; robot hand structure; robot operator; sensing signal; Conferences; Force; Impedance; Robot sensing systems; Service robots; Servomotors; Robot hand; bilateral control; pressure sensor;
fLanguage
English
Publisher
ieee
Conference_Titel
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location
Tokyo
ISSN
pending
Print_ISBN
978-1-4577-0714-8
Type
conf
Filename
6060293
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