Intelligent Fingertip Sensing for Contact Information Identification

摘要：

In this paper we propose a new iterative algorithm for effective contact information identification, allowing a fingertip equipped with 6-axis force/torque sensor to accurately estimate contact information, including the contact location on the fingertip, the direction and the magnitude of the friction and normal forces, the local torque generated at the surface. The proposed algorithm is highly computational efficient and achieves an update rate of 833 Hz. The accuracy of the proposed algorithm has been validated experimentally. The results show that the algorithm provides precise estimation for all the identified contact properties.

关键词： Contact information identification Force/torque sensing Grasping

作者: Hongbin Liu Xiaojing Song Joao Bimbo Kaspar Althoefer Lakmal Senerivatne

作者单位: Kings College London, Strand, London WC2R 2LS, UK

会议类型: 国际会议

会议名称: The Second ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robote 第二届ASME/IFTOMM可重构机构与可重构机器人国际大会 ReMAR 2012

会议地点: 天津

会议语种:英文

页码: 599-608

在线出版日期: 2012-07-08（万方平台首次上网日期，不代表论文的发表时间）