DocumentCode :
3296896
Title :
Development of double-octagon tactile sensor for grasping control
Author :
Nakayama, Shigeki ; Peng Chen ; Matsumiya, Toshihiko ; Toyota, Toshio
Author_Institution :
Yonago Nat. Coll. of Technol., Tottori, Japan
fYear :
1999
fDate :
1999
Firstpage :
434
Lastpage :
439
Abstract :
An intelligent robot hand must be able to grasp a variety of objects, such as a fragile egg, a heavy iron and so on. It must be also able to have the ability to finish a job on the basis of tactile information detected by tactile sensors. In order to realize the sensor for an intelligent hand, the conflicting problem between strength and sensitivity of the tactile sensor must be resolved. To resolve this requirements, we propose a tactile sensor called “double-octagon tactile sensor (DOTS)” for the intelligent robot hand. This sensor has high sensitivity and strength, and can precisely sense the grasping force and shearing force between a grasped object and the finger. The paper describes the structure, design and sensing principle of the DOTS, and shows application to prove the effectiveness of DOTS
Keywords :
friction; manipulators; tactile sensors; double-octagon tactile sensor; grasping control; grasping force; intelligent robot hand; shearing force; tactile information; Fingers; Force measurement; Force sensors; Friction; Grasping; Intelligent robots; Intelligent sensors; Shearing; Strain measurement; Tactile sensors;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Intelligent Mechatronics, 1999. Proceedings. 1999 IEEE/ASME International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-7803-5038-3
Type :
conf
DOI :
10.1109/AIM.1999.803208
Filename :
803208
Link To Document :
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