Development of Pressure Distributed Sensor for Universal Robot Hand

• NAKAMOTO Hiroyuki

  Hyogo Prefectural Institute of Technology

• KOBAYASHI Futoshi

  神戸大学大学院工学研究科

• IMAMURA Nobuaki

  広島国際大学工学部

• SHIRASAWA Hidenori

  (財) 近畿高エネルギー加工技術研究所

• KOTIMA Fumio

  神戸大学大学院工学研究科

Bibliographic Information

Other Title

• ユニバーサルロボットハンドのための分布型圧力センサの開発
• ユニバーサル ロボット ハンド ノ タメノ ブンプガタ アツリョク センサ ノ カイハツ

Abstract

We propose a pressure distributed sensor as a tactile sensor for a five-fingered robotic hand like a human hand. The sensor has simple, three-layer structure, which composed of an urethane gel, a pressure sensitive rubber under the gel, and an electrode sheet at the bottom. The arrangement brings high productivity and smooth maintenance. The electrode sheet also provides high ratio of the detection area to the sensor and high sensitivity. First, the characteristics of response time and accuracy are investigated by ground tests. Secondly, a shape recognition method with the sensor is proposed. Finally the effectiveness and validity of the proposed method are demonstrated through laboratory experiments.

Journal

• TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C

  TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C 73 (733), 2561-2567, 2007

  The Japan Society of Mechanical Engineers

Keywords

• Sensor
• Recognition
• Robot
• Pressure Distribution
• Robot Hand
• Shape Recognition

Details

• CRID: 1390282681365191936
• NII Article ID: 110006403948
• NII Article ID: 130004085028
• NII Book ID: AN00187463
• DOI: 10.1299/kikaic.73.2561
• ISSN: 18848354
• ISSN: 03875024
• NDL BIB ID: 8957893
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I8957893
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/73/733/73_733_2561/_pdf
• Text Lang: ja
• Data Source:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• Abstract License Flag: Disallowed