Continuous sensing ability of robot finger joints with tactile sensors

Chincheng Hsu*, Alexander Schmitz, Kosuke Kusayanagi, Shigeki Sugano

*この研究の対応する著者

研究成果: Conference contribution

2 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1440-1444
ページ数5
ISBN(電子版)9781728124933
DOI
出版ステータスPublished - 2019 7月
イベント2019 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2019 - Hong Kong, China
継続期間: 2019 7月 82019 7月 12

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
2019-July

Conference

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

ASJC Scopus subject areas

  • 電子工学および電気工学
  • 制御およびシステム工学
  • コンピュータ サイエンスの応用
  • ソフトウェア

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