Development of a 3-axis human fingertip tactile sensor with an ortho-planar spring

Harris Kristanto, Prathamesh Sathe, Chincheng Hsu, Alexander Schmitz, Tito Pradhono Tomo, Sophon Somlor, Shigeki Sugano

研究成果: Conference contribution

抄録

Human experts have mastered many manual skills. Transferring those skills to robots or human novices is challenging. Not only the movements, but also the exerted forces are of importance. In this paper we propose a sensor that can measure the force vector acting on the human fingertip, without covering the part of the fingertip that is contact with the touched object. Compared to our previous iterations of this sensor, we use a spring instead of viscoelastic material as the deformable material for the sensor. While it is challenging to include a spring in the given form factor, springs have the benefit of lower hysteresis than viscoelastic materials. This paper presents the integration of the spring in the sensor and shows experimental validation with 8 subjects. Compared to our previous version of the sensor with 2 Hall effect sensors, we achieved improved sensing characteristics.

本文言語English
ホスト出版物のタイトルIEEE International Conference on Robotics and Biomimetics, ROBIO 2019
出版社Institute of Electrical and Electronics Engineers Inc.
ページ297-302
ページ数6
ISBN(電子版)9781728163215
DOI
出版ステータスPublished - 2019 12
イベント2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019 - Dali, China
継続期間: 2019 12 62019 12 8

出版物シリーズ

名前IEEE 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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