複合型八角リングによるロボットハンド用多機能触覚センサの実現 Study on Development of Multifunctional Tactile Sensor by Double Octagon Ring
An intelligent robot hand must be able to grasp a variety of objects, such as a frail egg and a heavy iron block and so on. It must be also able to have the ability as man hand to finish the job on the basis of tactile information from tactile sensor even without image information. In order to realize the intelligent hand, the contradiction problem between strength and sensitivity of a tactile sensor must be resolved.<br>This paper propose a new type tactile sensor called "Double Octagon Tactile Sensor (D.O.T.S.)" for the intelligent robot hand. The sensor has high sensitivity and high strength, and can precisely sense the touch force and slip between a grasped object and the sensor. This paper discusses the structure, design method and the sensing principle of the sensor, and proves the effectiveness of the sensor.
計測自動制御学会論文集 35(8), 981-988, 1999-08-30
The Society of Instrument and Control Engineers