Referenced Items are not available for this document.
This paper proposes a tactile-sensing mechanism for a robot. The mechanism is composed of a force-sensor device and an end-effector of shell shape. Since the end-effector plays the role of an outer shell, a force can be sensed at any position on the body. Due to the aspect of its intrinsic contact sensing, position of the single contact point is calculable without any sensor array. Another advantage is that the six-axis resultant force is measurable. This paper shows that the mechanism is also available for the end-effector with an angulated shape. The only condition for the shape is to be a convex hull. Some experimental results evaluate sources of error in practical measurement and show the validity of the proposed mechanism.
Published in:
Industrial Electronics, IEEE Transactions on
(Volume:56
,
Issue:
5
)
Date of Publication: May 2009
- Page(s):
- 1375 - 1382
- ISSN :
- 0278-0046
- INSPEC Accession Number:
- 10601714
- Digital Object Identifier :
- 10.1109/TIE.2009.2014748
- Product Type:
- Journals & Magazines
- Date of Publication :
- 10 February 2009
- Date of Current Version :
- 28 April 2009
- Issue Date :
- May 2009
- Sponsored by :
- IEEE Industrial Electronics Society
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