A modular, distributed, soft, 3-axis sensor system for robot hands

Tito Pradhono Tomo, Wai Keat Wong, Alexander Schmitz, Harris Kristanto, Alexandre Sarazin, Lorenzo Jamone, Sophon Somlor, Shigeki Sugano

研究成果: Conference contribution

24 引用 (Scopus)

抜粋

Integrating distributed sensors in the skin of robot hands is challenging, as the space is limited. This paper presents a dense and small tactile sensor system that can be installed on robotic hands. In the current implementation, the system is constituted by modules that are 26mm long and 27mm wide and they have been successfully integrated on the internal side of each finger phalange of the commercially available Allegro Hand (except the fingertips). Each sensor module contains 16 tri-axial taxels; each taxel is able to measure the applied 3D force vector using a Hall effect sensor and a magnet. The sensor modules are 4mm high, including the printed circuit board (PCB) with the sensors and the soft silicone with the magnets. The back of the PCB is flat without any components mounted, which eases the integration. Each sensor has I2C digital output, and each sensor module is connected to four I2C buses, requiring only seven wires for each module. The tri-axial taxels are close to each other (4.7 mm from the center of one taxel to the next), but experiments proved that independent force vectors can be measured and that the crosstalk is limited.

元の言語English
ホスト出版物のタイトルHumanoids 2016 - IEEE-RAS International Conference on Humanoid Robots
出版者IEEE Computer Society
ページ454-460
ページ数7
ISBN(電子版)9781509047185
DOI
出版物ステータスPublished - 2016 12 30
イベント16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016 - Cancun, Mexico
継続期間: 2016 11 152016 11 17

Other

Other16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016
Mexico
Cancun
期間16/11/1516/11/17

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering

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  • これを引用

    Tomo, T. P., Wong, W. K., Schmitz, A., Kristanto, H., Sarazin, A., Jamone, L., Somlor, S., & Sugano, S. (2016). A modular, distributed, soft, 3-axis sensor system for robot hands. : Humanoids 2016 - IEEE-RAS International Conference on Humanoid Robots (pp. 454-460). [7803315] IEEE Computer Society. https://doi.org/10.1109/HUMANOIDS.2016.7803315