書誌事項
- タイトル別名
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- Development of a Whole-Body Haptic Sensor with Multiple Supporting Points and Its Application to a Manipulator
- フクスウ ノ シジテン オ ユウスル コウカクガタ ショッカク センサ ノ カイハツ ト マニピュレータ エ ノ オウヨウ
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抄録
This paper proposes a whole-body haptic sensing system that has multiple supporting points between the body frame and the end-effector. The system consists of an end-effector and multiple force sensors. Using this mechanism, the position of a contact force on the surface can be calculated without any sensor array. A haptic sensing system with a single supporting point structure has previously been developed by the present authors. However, the system has drawbacks such as low stiffness and low strength. Therefore, in this study, a mechanism with multiple supporting points was proposed and its performance was verified. In this paper, the basic concept of the mechanism is first introduced. Next, an evaluation of the proposed method, performed by conducting some experiments, is presented.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 131 (9), 1128-1134, 2011
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390282679635157632
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- NII論文ID
- 10030530999
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- NII書誌ID
- AN10012320
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- BIBCODE
- 2011IJTIA.131.1128H
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 11220952
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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
- NDL
- Crossref
- CiNii Articles
- KAKEN
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- 抄録ライセンスフラグ
- 使用不可