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


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 languageEnglish
Article numbere23307
JournalElectrical Engineering in Japan (English translation of Denki Gakkai Ronbunshi)
Issue number2
Publication statusPublished - 2021 Jun


  • 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


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