人造手指皮肤有脊和分布式触觉传感器用于抓握力控制

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180) Pub Date : 2002-04-20 DOI:10.1109/IROS.2001.976249

D. Yamada, T. Maeno, Yoji Yamada

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引用次数: 121

摘要

为了在被抓物体的重量和摩擦系数未知的情况下控制抓握力，研制了一种机器人手指人造弹性指皮。弹性指皮的表面有脊状突起，用以划分粘滑区。它还在每根脊上嵌入了一对触觉传感器，类似于人类的指尖。整个手指的表面是弯曲的，这样反作用力可以被分配。建立弹性指皮有限元模型，利用有限元方法对弹性指皮进行动态接触分析，为弹性指皮的设计提供依据。然后构建弹性手指皮肤。通过计算和实验证实，可以检测到发生在接触区边缘附近的脊的初始滑移。该结果可用于在弹性指皮与抓握物体的重量和摩擦系数未知的情况下控制抓握力。

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Artificial finger skin having ridges and distributed tactile sensors used for grasp force control

An artificial elastic finger skin for robot fingers was developed for controlling the grasp force when the weight and friction coefficient of the grasped object are unknown. The elastic finger skin has ridges at the surface to divide the stick/slip area. It also has a pair of tactile sensors embedded per one ridge similar to human fingertips. The surface of the whole finger is curved so that the reaction force can be distributed. A finite element (FE) model of the elastic finger skin was developed to perform a dynamic contact analysis using the FE method in order to design the elastic finger skin. The elastic finger skin was then constructed. It was confirmed by calculation and experiment that the incipient slippage of the ridge that occurs near the edge of contact area can be detected. This result is useful for controlling the grasping force when the weight and friction coefficient between the elastic finger skin and grasping object are unknown.

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来源期刊

Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180)

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