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A simplified whole-body haptic sensing system with multiple supporting points

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3 Author(s)
Hanyu, R. ; Saitama Univ., Saitama, Japan ; Tsuji, T. ; Abe, S.

The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a single contact point on the robot is calculated without any sensor array. The mechanism is composed of a cylindrical end-effector surrounding the body and multiple force sensor devices. An external force is transmitted to the sensor device through the end-effector and is measured by the sensor devices. The present paper describes a calculation method for the proposed system. First, the basic concept of the mechanism is introduced using a simple model. Next, some problems and solutions for a multiple supporting haptic mechanism are discussed.

Published in:

Advanced Motion Control, 2010 11th IEEE International Workshop on

Date of Conference:

21-24 March 2010