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

Access to Document

10.1299/kikaic.70.83

Cite this

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. https://doi.org/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.

@article{81016126488e483fa52c3b3d6f2fcac2,

title = "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)",

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.",

keywords = "Contact problem, Finite element analysis, Grasping force, Tactile sensor",

author = "Ryuji Kimura and Takanori Uchiyama and Takashi Maeno",

year = "2004",

month = jan,

doi = "10.1299/kikaic.70.83",

language = "English",

volume = "70",

pages = "83--88",

journal = "Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C",

issn = "0387-5024",

publisher = "Japan Society of Mechanical Engineers",

number = "1",

}

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

U2 - 10.1299/kikaic.70.83

DO - 10.1299/kikaic.70.83

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 -

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)

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this