Title :
Development of a six-axis force/tactile sensor for robot finger by employing spring beams
Author :
Luo, Minghua ; Ito, Masanori ; Shimizu, Etsuro ; Zhang, FeiFei
Author_Institution :
Tokyo Univ. of Mercantile Marine, Japan
Abstract :
In this paper, a six-axis force/tactile sensor for a robot finger is described. The elastic sensitive part of the sensor consists of only a copper plate. A mathematical model of the sensor is proposed. By this model, the grasping force, moment and touching position of robot finger can be calculated. Furthermore, the performance of this sensor is examined. The experimental results present the input-output relationship of the sensor. In experiment, the robot fingers equipped with this kind of sensor can steadily grasp an egg as well as other light and fragile objects.
Keywords :
dexterous manipulators; force sensors; tactile sensors; grasping force; robot finger; six-axis force; spring beams; tactile sensor; touching position; Capacitive sensors; Fingers; Force measurement; Force sensors; Indium tin oxide; Robot sensing systems; Solid modeling; Springs; Stress; Tactile sensors;
Conference_Titel :
Industrial Electronics Society, 2003. IECON '03. The 29th Annual Conference of the IEEE
Print_ISBN :
0-7803-7906-3
DOI :
10.1109/IECON.2003.1280280
