基于手套的机器人手指力传感器制造与评估。

Craig Ades, Iker Gonzalez, Mostapha AlSaidi, Mehrdad Nojoumian, Ou Bai, Aparna Aravelli, Leonel Lagos, Erik D Engeberg
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引用次数: 0

摘要

这种力反馈方法比较了i-Limb Ultra机器人手在几个实验场景中通过戴手套施加力对传感能力的影响。一个Takktile传感器被集成到一个制造的指尖来测量i-Limb Ultra的作用力。然后利用MATLAB/Simulink设计了控制器,控制i-Limb的手指运动,使其对外部称重传感器施加力。进行测试以检查两种情况下的力测量和传感能力/质量:手不戴手套和手戴丁腈手套。每个场景都通过在3种不同的模式下施加指尖力进行测试:打开/关闭无接触,连续敲击和恒定力。
本文章由计算机程序翻译,如有差异,请以英文原文为准。

Robotic Finger Force Sensor Fabrication and Evaluation Through a Glove.

Robotic Finger Force Sensor Fabrication and Evaluation Through a Glove.

Robotic Finger Force Sensor Fabrication and Evaluation Through a Glove.

This force-feedback approach compares the effect on the sensing ability through a worn glove of the force application of an i-Limb Ultra robotic hand for several experimental scenarios. A Takktile sensor was integrated into a fabricated fingertip to measure the applied force of the i-Limb Ultra. A controller was then designed using MATLAB/Simulink to manipulate the finger motion of the i-Limb to apply force to an external load cell. Testing was performed to check the force measurements and sensing ability/quality for two cases: hand with no glove and hand with a nitrile glove. Each of these scenarios were tested by applying fingertip force in 3 different modes: open/close with no contact, continuous tapping and constant force.

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