Moment detection by integrated tactile sensors for partner robot applications

被引：0

作者：

Fujiyoshi M. ^{[1
]}

Hata Y. ^{[1
]}

Mima K. ^{[2
]}

Hirano H. ^{[3
]}

Muroyama M. ^{[3
]}

Tanaka S. ^{[3
]}

Nakayama T. ^{[2
]}

机构：

[1] Toyota Central R&D Labs., Inc., 41-1, Yokomichi, Nagakute, Aichi

[2] Toyota Motor Corporation 1, Toyota-cho, Toyota, Aichi

[3] Tohoku University, 6-6-1, Aza-Aoba, Aramaki, Aoba-ku, Sendai

来源：

IEEJ Transactions on Sensors and Micromachines | 2020年 / 140卷 / 08期

关键词：

3-axis force detection; Integrated tactile sensor; Moment detection; Shearing force; Tactile sensor network;

D O I：

10.1541/IEEJSMAS.140.201

中图分类号：

学科分类号：

摘要：

This paper reports on moment detection by three integrated tactile sensors that detect 3-axis forces. In this study, the three integrated tactile sensors were connected along a serial bus and were mounted in a triangle shape on a circuit board. Out-of-plane moment applied on the circuit board was measured using the shearing forces and a geometric relationship of the triangle sensor allay. The principle of the proposed moment detection method was demonstrated. The experimental results showed that the sensitivity and the nonlinearity were 1.10 count/N·m and ±16% full scale, respectively. The resolution of the obtained moment was below 0.015 N∙m. The moment detection ability enables the partner robots to grasp objects correctly and to interact softly with human. © 2020 The Institute of Electrical Engineers of Japan.

引用

页码：201 / 208

页数：7

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