Title :
Torque sensing of finger joint using strain-deformation expansion mechanism
Author :
Yu, Yong ; Ishitsuka, Takashi ; Tsujio, Showzow
Author_Institution :
Dept. of Mech. Eng., Kagoshima Univ., Japan
Abstract :
For dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the finger joint torque is required. In general, the size of finger joint is quite small so that it is hard to realize the torque sensing. This paper proposes a novel mechanism called strain-deformation expansion mechanism to sense the joint torque, which is small enough and fitted in the finger joint. The torque sensing mechanism can expand the small joint strain-deformation used for torque sensing expanded without reducing the joint stiffness. In this paper, the torque sensing principle is addressed by analyzing the deformation of the sensing mechanism and the torques acting on the joint shaft theoretically. Then, the sensitivity of the sensing mechanism and its expansion rate of sensitivity are defined, and a design method for realizing the sensing mechanism with high sensitivity is discussed. Lastly, some experiments with robot finger are performed to show the basic characteristics and the effectiveness of the proposed torque sensing mechanism.
Keywords :
deformation; dexterous manipulators; sensors; strain measurement; torque measurement; finger joint; joint shaft; joint stiffness; object grasping; robot; sensitivity; strain-deformation expansion mechanism; torque sensing; Actuators; Capacitive sensors; Fingers; Gears; Grasping; Mechanical engineering; Robot sensing systems; Shafts; Strain measurement; Torque measurement;
Conference_Titel :
Robotics, Intelligent Systems and Signal Processing, 2003. Proceedings. 2003 IEEE International Conference on
Print_ISBN :
0-7803-7925-X
DOI :
10.1109/RISSP.2003.1285579