Non-Contact Stiffness Sensing with Deformation Dependent Force Calibration

摘要：

Non-contact stiffness sensor is often utilized especially for medical .elds due to its advantage of avoiding damage to tissues and keeping sanitary. However, it is hard to measure the force accurately, because the .uid jet based force much depends upon the shape after deformation of object. This paper proposes an innovative approach where the external force is adaptively calibrated based on the deformation of object so that we can evaluate the internal stiffness parameters more accurately than that of conventional approaches. It is shown that the proposed method can improve the accuracy of force application with even 100％ at an extreme case.

作者: Nobuyuki Tanaka Mitsuru Higashimori Makoto Kaneko

作者单位: School of Engineering,Osaka University,2-1,Yamadaoka,Suita,Osaka

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 248-253

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）