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

doi:10.1109/ROBIO49542.2019.8961450

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

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

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 language	English
Title of host publication	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	247-252
Number of pages	6
ISBN (Electronic)	9781728163215
DOIs	https://doi.org/10.1109/ROBIO49542.2019.8961450
Publication status	Published - 2019 Dec
Event	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China Duration: 2019 Dec 6 → 2019 Dec 8

Publication series

Name	IEEE International Conference on Robotics and Biomimetics, ROBIO 2019

Conference

Conference	2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Country/Territory	China
City	Dali
Period	19/12/6 → 19/12/8

ASJC Scopus subject areas

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

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10.1109/ROBIO49542.2019.8961450

Cite this

Hsu, C., Schmitz, A., Khullar, G., Kristanto, H., Wang, Z., Sathe, P., & Sugano, S. (2019). Implementation of a remote center of motion robot finger with tactile sensors in the joints. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 (pp. 247-252). [8961450] (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO49542.2019.8961450

Implementation of a remote center of motion robot finger with tactile sensors in the joints. / Hsu, Chincheng; Schmitz, Alexander; Khullar, Gagan et al.

IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc., 2019. p. 247-252 8961450 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Hsu, C, Schmitz, A, Khullar, G, Kristanto, H, Wang, Z, Sathe, P & Sugano, S 2019, Implementation of a remote center of motion robot finger with tactile sensors in the joints. in IEEE International Conference on Robotics and Biomimetics, ROBIO 2019., 8961450, IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Institute of Electrical and Electronics Engineers Inc., pp. 247-252, 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019, Dali, China, 19/12/6. https://doi.org/10.1109/ROBIO49542.2019.8961450

Hsu C, Schmitz A, Khullar G, Kristanto H, Wang Z, Sathe P et al. Implementation of a remote center of motion robot finger with tactile sensors in the joints. In IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc. 2019. p. 247-252. 8961450. (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019). doi: 10.1109/ROBIO49542.2019.8961450

Hsu, Chincheng ; Schmitz, Alexander ; Khullar, Gagan et al. / Implementation of a remote center of motion robot finger with tactile sensors in the joints. IEEE International Conference on Robotics and Biomimetics, ROBIO 2019. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 247-252 (IEEE International Conference on Robotics and Biomimetics, ROBIO 2019).

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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.",

author = "Chincheng Hsu and Alexander Schmitz and Gagan Khullar and Harris Kristanto and Zhen Wang and Prathamesh Sathe and Shigeki Sugano",

note = "Funding Information: This research was supported by the JSPS Grant-in-Aid for Scientific Research No. JP19J14998, No. JP17K18183, No. 19K14948, No. 19H02116 and No. 19H01130. 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 Funding Information: This research was supported by the JSPS Grant-in-Aid for Scientific Research No. JP19J14998, No. JP17K18183, No. 19K14948, No. 19H02116 Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 ; Conference date: 06-12-2019 Through 08-12-2019",

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AU - Sathe, Prathamesh

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N1 - Funding Information: This research was supported by the JSPS Grant-in-Aid for Scientific Research No. JP19J14998, No. JP17K18183, No. 19K14948, No. 19H02116 and No. 19H01130. 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 Funding Information: This research was supported by the JSPS Grant-in-Aid for Scientific Research No. JP19J14998, No. JP17K18183, No. 19K14948, No. 19H02116 Publisher Copyright: © 2019 IEEE.

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N2 - 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.

AB - 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.

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

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