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)

Ryuji Kimura; Takanori Uchiyama; Takashi Maeno

doi:10.1299/kikaic.70.83

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)

Ryuji Kimura, Takanori Uchiyama, Takashi Maeno

Graduate School of System Design and Management

Research output: Contribution to journal › Article › peer-review

1 Citation (Scopus)

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
DOIs	https://doi.org/10.1299/kikaic.70.83
Publication status	Published - 2004 Jan

Keywords

Contact problem
Finite element analysis
Grasping force
Tactile sensor

ASJC Scopus subject areas

Mechanics of Materials
Mechanical Engineering
Industrial and Manufacturing Engineering

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10.1299/kikaic.70.83

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Kimura, R., Uchiyama, T., & Maeno, T. (2004). 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). Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, 70(1), 83-88. https://doi.org/10.1299/kikaic.70.83

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 › peer-review

Kimura, R, Uchiyama, T & Maeno, T 2004, '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)', Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C, vol. 70, no. 1, pp. 83-88. https://doi.org/10.1299/kikaic.70.83

Kimura R, Uchiyama T , Maeno T. 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). Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 2004 Jan;70(1):83-88. doi: 10.1299/kikaic.70.83

Kimura, Ryuji ; Uchiyama, Takanori ; Maeno, Takashi. / 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). In: Nippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C. 2004 ; Vol. 70, No. 1. pp. 83-88.

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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)

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Keywords

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