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

*この研究の対応する著者

研究成果: Conference contribution

1 被引用数 (Scopus)

抄録

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.

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247-252
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
国/地域China
CityDali
Period19/12/619/12/8

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ サイエンスの応用
  • ハードウェアとアーキテクチャ
  • 機械工学
  • 制御と最適化

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