Implementation of a remote center of motion robot finger with tactile sensors in the joints

Chincheng Hsu, Alexander Schmitz, Gagan Khullar, Harris Kristanto, Zhen Wang, Prathamesh Sathe, Shigeki Sugano

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

Abstract

Robot grippers and hands are commonly used to grasp various objects. However, for multi-link fingers, it is challenging to cover the joints with tactile sensors, which limits the safety and sensitivity of such fingers. In the current paper we use a remote center of motion (RCM) mechanism for the joints, which enables us to cover also the joints completely with soft and thick tactile sensors, in particular distributed 3-axis sensors. The RCM joints are implemented as 6-bars, and we evaluate their robustness in simulation. A real implementation of the gripper is tested by grasping various objects, and the resulting tactile sensor readings are presented.

Original languageEnglish
Title of host publicationIEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages247-252
Number of pages6
ISBN (Electronic)9781728163215
DOIs
Publication statusPublished - 2019 Dec
Event2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China
Duration: 2019 Dec 62019 Dec 8

Publication series

NameIEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
CountryChina
CityDali
Period19/12/619/12/8

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Science Applications
  • Hardware and Architecture
  • Mechanical Engineering
  • Control and Optimization

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