Whole-Body Force Sensation by Force Sensor With Shell-Shaped End-Effector
Tsuji, T.
Kaneko, Y.
Abe, S.
Dept. of Electr. & Electron. Syst., Saitama Univ., Saitama;
This paper appears in: Industrial Electronics, IEEE Transactions on
Publication Date: May 2009
Volume: 56,
Issue: 5
On page(s): 1375-1382
ISSN: 0278-0046
INSPEC Accession Number: 10601714
Digital Object Identifier: 10.1109/TIE.2009.2014748
First Published: 2009-02-10
Current Version Published: 2009-04-28
Abstract
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.
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