Highly Sensitive Sensor for Detection of Initial Slip and Its Application in a Multi-fingered Robot Hand
Tactile sensors for slip detection are essential for implementing human-like gripping in a robot hand. In previous studies, we proposed flexible, thin and lightweight slip detection sensors utilizing the characteristics of pressuresensitive conductive rubber. This was achieved by using the high-frequency vibration component generated in the process of slipping of the gripped object in order to distinguish between slipping of the object and changes in the normal force. In this paper, we design a slip detection sensor for a multi-fingered robot hand and examine the influence of noise caused by the operation of such a hand. Finally, we describe an experiment focusing on the adjustment of the gripping force of a multifingered robot hand equipped with the developed sensors.
Seiichi Teshigawara Takahiro Tsutsumi Satoru Shimizu Yosuke Suzuki Aiguo Ming Masatoshi Ishikawa Makoto Shimojo
Mechanical Engineering and Intelligent Systems,The University of Electro-Communications,1-5-1 Chofug Department of Information Physics and Computing,Graduate School of Information Science and Technolog
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
1097-1102
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）