Abstract
A two axial finger-shaped sensor is developed for controlling grasping force so that an object is lifted with appropriate grasping force at any grasping direction. It consists of silicone rubber having spherical surface and strain gauges arranged in two perpendicular axes. First, the relationship between stick area and the internal strain distribution of the sensor are calculated using FE (finite element) analysis when the sensor is in contact with an object. It is necessary to detect the shear strain distributed in the sensor in order to grasp the object with appropriate force. Then, the method for estimating stick area of the sensor is proposed using FE analysis. Finally, the grasping force control is achieved using the constructed system. It is shown that arbitrary objects with various weight and friction coefficients are lifted using the developed sensor and control method.
| Original language | English |
|---|---|
| Pages (from-to) | 83-88 |
| Number of pages | 6 |
| Journal | Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |
| Volume | 70 |
| Issue number | 1 |
| Publication status | Published - 2004 Jan |
Fingerprint
Keywords
- Contact problem
- Finite element analysis
- Grasping force
- Tactile sensor
ASJC Scopus subject areas
- Mechanical Engineering
Cite this
Development of elastic finger-like sensor for control of grasping force (Control of grasping force in arbitrary direction using spherical sensor with strain gages arranged on perpendicular axes). / Kimura, Ryuji; Uchiyama, Takanori; Maeno, Takashi.
In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, Vol. 70, No. 1, 01.2004, p. 83-88.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - Development of elastic finger-like sensor for control of grasping force (Control of grasping force in arbitrary direction using spherical sensor with strain gages arranged on perpendicular axes)
AU - Kimura, Ryuji
AU - Uchiyama, Takanori
AU - Maeno, Takashi
PY - 2004/1
Y1 - 2004/1
N2 - A two axial finger-shaped sensor is developed for controlling grasping force so that an object is lifted with appropriate grasping force at any grasping direction. It consists of silicone rubber having spherical surface and strain gauges arranged in two perpendicular axes. First, the relationship between stick area and the internal strain distribution of the sensor are calculated using FE (finite element) analysis when the sensor is in contact with an object. It is necessary to detect the shear strain distributed in the sensor in order to grasp the object with appropriate force. Then, the method for estimating stick area of the sensor is proposed using FE analysis. Finally, the grasping force control is achieved using the constructed system. It is shown that arbitrary objects with various weight and friction coefficients are lifted using the developed sensor and control method.
AB - A two axial finger-shaped sensor is developed for controlling grasping force so that an object is lifted with appropriate grasping force at any grasping direction. It consists of silicone rubber having spherical surface and strain gauges arranged in two perpendicular axes. First, the relationship between stick area and the internal strain distribution of the sensor are calculated using FE (finite element) analysis when the sensor is in contact with an object. It is necessary to detect the shear strain distributed in the sensor in order to grasp the object with appropriate force. Then, the method for estimating stick area of the sensor is proposed using FE analysis. Finally, the grasping force control is achieved using the constructed system. It is shown that arbitrary objects with various weight and friction coefficients are lifted using the developed sensor and control method.
KW - Contact problem
KW - Finite element analysis
KW - Grasping force
KW - Tactile sensor
UR - http://www.scopus.com/inward/record.url?scp=1842844380&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=1842844380&partnerID=8YFLogxK
M3 - Article
AN - SCOPUS:1842844380
VL - 70
SP - 83
EP - 88
JO - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
JF - Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
SN - 0387-5024
IS - 1
ER -