New tactile sensing by robotic fingertip with soft skin

被引：2
|
作者：
Murakami, K [1 ]
Hasegawa, T [1 ]
机构：
[1] Kyushu Univ, Grad Sch Informat Sci & Elect Engn, Higashi Ku, Fukuoka 8128581, Japan
来源：
PROCEEDINGS OF THE IEEE SENSORS 2004, VOLS 1-3 | 2004年
关键词：
tactile sensing; soft fingertip;
D O I：
10.1109/ICSENS.2004.1426297
中图分类号：
T [工业技术];
学科分类号：
08 ;
摘要：
We propose a new method of tactile sensing for a fingertip of robotic hand. Using a simple fingertip with soft surface cover and a 6-axes force/torque sensor, developed is a new function of measuring direction of edge when the fingertip contacts with an edge of the object. The developed function is useful not only to plan strategies for stable grasp and dexterous manipulation but also to recognize a geometrical shape of an object. Two necessary components, a 6-axes force/torque sensor and the soft skin, are commercially available. They will neither restrict design of a robotic fingertip nor badly affect essential functions of stable grasping and manipulation.
引用
收藏
页码：824 / 827
页数：4
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