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Información general |
| Autor |
Kawamura, Takuya; Inaguma, Naoto; Nejigane, Ko; Tani, Kazuo; Yamada, Hironao |
| Publicado |
InTech Open Access Publisher, 2013
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| Abstract |
A hybrid tactile sensor system is proposed for a
robot hand to hold and grip an object adaptively as the
sensor system measures the slip of an object, the gripping
force, and the deformation of its silicon rubber sensor
element. A hybrid tactile sensor system consists of a
Carbon Micro‐Coil (CMC) touch sensor and a force
sensor. The CMC sensor element is made of silicon rubber
containing CMCs several micrometres in diameter. It is
considered that the sensor element constitutes an LCR
circuit, and the CMC touch sensor, deformed
mechanically, produces signals due to the modification of
the circuit. In this study, a dome‐shaped CMC sensor
element similar to the shape of a human fingertip was
used. This paper first examines the characteristics of the
CMC sensor in terms of slip detection when the sensor
system held and released an object. Next, the
characteristics of the CMC element are clarified with
respect to the compression force and deformation when
the CMC element was compressed vertically. Finally,
methods using the hybrid tactile sensor system are
developed to detect the slip of an object and estimate the
magnitude of deformation of the CMC element. |
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International Journal of Advanced Robotic Systems
Autor: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Publicado: 2004
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