触觉传感柔性致动器的研制

Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE Pub Date : 1996-03-18 DOI:10.1109/AMC.1996.509337

Y. Tanaka, A. Gofuku, Y. Fujino

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引用次数: 2

摘要

柔性人造手指的缺点已经得到改善。通过两种类型的传感器为手指提供触觉，以检测指尖何时触摸物体并估计手指的力量和物体的大小。通过在手指上安装一种类似于人体骨骼的增强材料，可以增强手指的刚性。一个有四个手指的机器人手原型已经被制造出来用于实验，并安装在一个工业关节机器人上。通过抓取动作的实验测试，验证了改进后的机器人手指的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Development of a tactile sensing flexible actuator

The disadvantages of flexible artificial fingers have been improved. The finger is provided with the tactile sense by two types of sensors to detect when the finger tip touches an object and to estimate both the finger force and object size. The rigidity is enhanced by equipping the finger with a reinforcing material similar to that of human bone. A prototype robot hand with four fingers has been manufactured for experiments and mounted on an industrial articulated robot. The effectiveness of the improved robot hand finger was confirmed throughout experimental tests of grasping action.

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Proceedings of 4th IEEE International Workshop on Advanced Motion Control - AMC '96 - MIE

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