パートナーロボットへの応用を目指した集積化力覚センサ素子によるモーメント検知

Translated title of the contribution: Moment detection by integrated tactile sensors for partner robot applications

Motohiro Fujiyoshi, Yoshiyuki Hata, Kazuhiro Mima, Hideki Hirano, Masanori Muroyama, Shuji Tanaka, Takahiro Nakayama

Research output: Contribution to journalArticlepeer-review

Abstract

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.

Translated title of the contributionMoment detection by integrated tactile sensors for partner robot applications
Original languageJapanese
Pages (from-to)201-208
Number of pages8
JournalIEEJ Transactions on Sensors and Micromachines
Volume140
Issue number8
DOIs
Publication statusPublished - 2020 Aug

ASJC Scopus subject areas

  • Mechanical Engineering
  • Electrical and Electronic Engineering

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