Continuous sensing ability of robot finger joints with tactile sensors

Chincheng Hsu, Alexander Schmitz, Kosuke Kusayanagi, Shigeki Sugano

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

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.

Original languageEnglish
Title of host publicationProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1440-1444
Number of pages5
ISBN (Electronic)9781728124933
DOIs
Publication statusPublished - 2019 Jul
Event2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
Duration: 2019 Jul 82019 Jul 12

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2019-July

Conference

Conference2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
CountryChina
CityHong Kong
Period19/7/819/7/12

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

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  • Cite this

    Hsu, C., Schmitz, A., Kusayanagi, K., & Sugano, S. (2019). Continuous sensing ability of robot finger joints with tactile sensors. In Proceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 (pp. 1440-1444). [8868734] (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2019-July). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2019.8868734