TY - GEN
T1 - Continuous sensing ability of robot finger joints with tactile sensors
AU - Hsu, Chincheng
AU - Schmitz, Alexander
AU - Kusayanagi, Kosuke
AU - Sugano, Shigeki
N1 - Funding Information:
This research was supported by the JSPS Grant-in-Aid for Scientific Research (S) No. 25220005. Corresponding author: Chincheng Hsu 1The authors are with the Sugano Lab, Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, Tokyo, Japan. contact: chincheng hsu@fuji.waseda.jp
Publisher Copyright:
© 2019 IEEE.
PY - 2019/7
Y1 - 2019/7
N2 - Human symbiotic robots are required to support daily activities of aging societies. However, deficient sensing ability on the current robot hands makes it difficult to perform grasping actions and efficiently accomplish manipulation tasks. Therefore, sufficient data and higher sensing ability are required for operating robot hands. In this research, a new robot finger mechanism is developed. This mechanism has the center of rotation located about the edge of the soft skin. The finger is actuated with an arrangement of a slider, linear motor, and a link mechanism. Hereby, robot finger can attach flexible skin and sensor continuously. Also, sensing ability comparison of other robot finger and the new finger with proposed mechanism is evaluated. As a result, the ability of proposed finger mechanism is confirmed.
AB - Human symbiotic robots are required to support daily activities of aging societies. However, deficient sensing ability on the current robot hands makes it difficult to perform grasping actions and efficiently accomplish manipulation tasks. Therefore, sufficient data and higher sensing ability are required for operating robot hands. In this research, a new robot finger mechanism is developed. This mechanism has the center of rotation located about the edge of the soft skin. The finger is actuated with an arrangement of a slider, linear motor, and a link mechanism. Hereby, robot finger can attach flexible skin and sensor continuously. Also, sensing ability comparison of other robot finger and the new finger with proposed mechanism is evaluated. As a result, the ability of proposed finger mechanism is confirmed.
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U2 - 10.1109/AIM.2019.8868734
DO - 10.1109/AIM.2019.8868734
M3 - Conference contribution
AN - SCOPUS:85074286448
T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
SP - 1440
EP - 1444
BT - Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
Y2 - 8 July 2019 through 12 July 2019
ER -