Moment detection by integrated tactile sensors for partner robot applications

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

doi:10.1002/eej.23307

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 journal › Article › peer-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.

Original language	English
Journal	Electrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
DOIs	https://doi.org/10.1002/eej.23307
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

Access to Document

10.1002/eej.23307

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title = "Moment detection by integrated tactile sensors for partner robot applications",

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.",

keywords = "3-axis force detection, integrated tactile sensor, moment detection, shearing force, tactile sensor network",

author = "Motohiro Fujiyoshi and Yoshiyuki Hata and Kazuhiro Mima and Hideki Hirano and Masanori Muroyama and Shuji Tanaka and Takahiro Nakayama",

year = "2020",

doi = "10.1002/eej.23307",

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T1 - Moment detection by integrated tactile sensors for partner robot applications

AU - Fujiyoshi, Motohiro

AU - Hata, Yoshiyuki

AU - Mima, Kazuhiro

AU - Hirano, Hideki

AU - Muroyama, Masanori

AU - Tanaka, Shuji

AU - Nakayama, Takahiro

PY - 2020

Y1 - 2020

N2 - 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.

AB - 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.

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KW - tactile sensor network

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