基于悬浮壳位移参数的灵巧手指动态触觉信息传感

Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems Pub Date : 1994-10-02 DOI:10.1109/MFI.1994.398447

T. Okada, Kinya Inamura, T. Suzuki

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引用次数: 2

摘要

本文介绍了一种基于悬壳机构的灵敏手指触觉传感器的光学位移测量方法。为了表示悬架壳的位置和方向，引入了三个角位移参数和两个线性位移参数。此外，还提出了一种利用光学逆投影法测量这五个参数的方法。只考虑弹簧的纵向力，弹簧在刚性指体周围同轴地悬挂壳。这样，平衡的动态分析就变得非常简单。给出了估计外力大小、方向和位置的代数公式。此外，还进行了仿真以验证所提出的程序

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Dynamic tactile information sensing for dextrous fingers utilizing displacement parameters of a suspension shell

This paper describes an optical displacement measurement method to develop tactile sensors based on a suspension-shell mechanism for dextrous fingers. To express position and orientation of the suspension-shell, three parameters of angular displacements and two parameters of linear displacements are introduced. Besides, a method for measuring these five parameters using inverse optical projection is proposed. Only the longitudinal force of the springs suspending the shell coaxially around the rigid finger body is considered. Thus, the dynamic analysis of balance becomes very simple. Algebraic formulations for estimating magnitude, direction and position of the external force are shown. Also, simulations to verify the proposed procedures are made.<>

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Proceedings of 1994 IEEE International Conference on MFI '94. Multisensor Fusion and Integration for Intelligent Systems

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