Design of robot hand and it's tactile sensor.
نویسندگان
چکیده
منابع مشابه
Design and Construction of a New Capacitive Tactile Sensor for Measuring Normal Tactile Force
This paper presents the design, construction and testing of a new capacitive tactile sensor for measurement of normal tactile force. The operation of proposed sensor has been investigated in ASTABLE and MONOSTABLE circuits. According to the results of these circuits the deviation of ASTABLE circuit results is less than MONOSTABLE circuit results. In addition, the results obtained from ASTABLE c...
متن کاملDesign of a Tactile Sensor for Robot Hands
Grasping and manipulation of objects, as well as the capability interacting safely with the environment (possibly including also humans), is a fundamental task for a humanoid robot. In order to tackle these issues a great effort has been put for over two decades to develop robot hands or mechanisms emulating the grasping capabilities of a human hand (Salisbury & Mason 1985; Jacobsen et al. 1986...
متن کاملDexterous Anthropomorphic Robot Hand With Distributed Tactile Sensor: Gifu Hand II
This paper presents an anthropomorphic robot hand called the Gifu hand II, which has a thumb and four fingers, all the joints of which are driven by servomotors built into the fingers and the palm. The thumb has four joints with four-degrees-of-freedom (DOF); the other fingers have four joints with 3-DOF; and two axes of the joints near the palm cross orthogonally at one point, as is the case i...
متن کاملDesign, Modeling, and Construction of a New Tactile Sensor for Measuring Contact-Force
This paper presents the design, modeling, and testing of a flexible tactile sensor and its applications. This sensor is made of polymer materials and can detect the 2D surface texture image and contact-force estimation. The sensing mechanism is based on the novel contact deflection effect of a membrane. We measure the deflection of the membrane with measuring the strain in the membrane with emb...
متن کاملDesign and Construction of a Novel Tactile Sensor for Measuring Contact-Force, Based on Piezoelectric Effect
In this paper, design and construction of a tactile sensor for measuring contact-force is presented. Mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. By considering a specific point in the circuit and recording the changes of its voltage, ma...
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ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 1986
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.4.423