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.
Original language | English |
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Journal | Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi) |
DOIs | |
Publication status | Accepted/In press - 2020 |
Keywords
- 3-axis force detection
- integrated tactile sensor
- moment detection
- shearing force
- tactile sensor network
ASJC Scopus subject areas
- Energy Engineering and Power Technology
- Electrical and Electronic Engineering