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- 黄 振善
- 早稲田大
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- ソムロア ソフォン
- 早稲田大
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- シュミッツ アレクサンダー
- 早稲田大
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- トモ ティト
- 早稲田大
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- 菅野 重樹
- 早稲田大
書誌事項
- タイトル別名
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- Development of a Small-sized Capacitive 6-axis Force/Torque Sensor with a New Arrangement
抄録
<p>Force sensing is a crucial task for robots, especially when the end effectors such as fingers and hands need to interact with an unknown environment. In order to sense such forces, a force/torque sensor is an essential component. Many available force/torque sensors are based on strain gauges, but other sensing principles are also possible. Capacitive sensors have the advantage of the availability of small sized chips for sensor readout and digitization. Therefore, in this paper, we propose a small-sized 6-axis force-torque sensor using a novel arrangement of 12 unit of the transducers based on the capacitive force transducer we have previously developed. The copper beryllium used in our sensor acts as a capacitive transducer. The transducer has a hard limit which makes the sensor robust to overload. Additionally, this sensor provides digital output via I2C bus to reduce the susceptibility to noise, and reduce the number of required wires.</p>
収録刊行物
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- ロボティクス・メカトロニクス講演会講演概要集
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ロボティクス・メカトロニクス講演会講演概要集 2017 (0), 1A1-N03-, 2017
一般社団法人 日本機械学会
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詳細情報 詳細情報について
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- CRID
- 1390001205941561728
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- NII論文ID
- 130006220290
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- ISSN
- 24243124
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可