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Sensing Characteristics of an Optical Three-axis Tactile Sensor Mounted on a Multi-fingered robotic Hand
http://hdl.handle.net/2237/7310
http://hdl.handle.net/2237/7310b4f74966-1aa8-4fb2-a74f-8b5701dac840
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
intelligent_robots_systems_2005_1959.pdf (980.5 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
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| 公開日 | 2007-02-19 | |||||
| タイトル | ||||||
| タイトル | Sensing Characteristics of an Optical Three-axis Tactile Sensor Mounted on a Multi-fingered robotic Hand | |||||
| 言語 | en | |||||
| 著者 |
Ohka, Masahiro
× Ohka, Masahiro× Kobayashi, Hiroaki× Mitsuya, Yasunaga |
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| アクセス権 | ||||||
| アクセス権 | open access | |||||
| アクセス権URI | http://purl.org/coar/access_right/c_abf2 | |||||
| 権利 | ||||||
| 言語 | en | |||||
| 権利情報 | Copyright © 2005 IEEE. Reprinted from (relevant publication info). This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of Nagoya University’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Tactile sensor | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Three-axis | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | hemispherical | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Multi-fingered hand | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Optical measurement | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | To develop a new three-axis tactile sensor for mounting on multi-fingered robotic hands, in this work we optimize sensing elements on the basis of our previous works concerning optical three-axis tactile sensors with a flat sensing surface. The present tactile sensor is based on the principle of an optical waveguide-type tactile sensor, which is composed of an acrylic hemispherical dome, a light source, an array of rubber sensing elements, and a CCD camera. The sensing element of the present tactile sensor comprises one columnar feeler and eight conical feelers. The contact areas of the conical feelers, which maintain contact with the acrylic dome, detect the three-axis force applied to the tip of the sensing element. Normal and shearing forces are then calculated from integration and centroid displacement of the gray-scale value derived from the conical feeler's contacts. To evaluate the present tactile sensor, we have conducted a series of experiments using a y-z stage, a rotational stage and a force gauge, and have found that although the relationship between integrated gray-scale value and normal force depends on the latitude on the hemispherical surface, it is easy to modify the sensitivity according to the latitude, and that the centroid displacement of the gray-scale value is proportional to the shearing force. Finally, to verify the present tactile sensor, we performed a series of scanning tests using a robotic manipulator equipped with the present tactile sensor to have the manipulator scan surfaces of fine abrasive papers. Results show that the obtained shearing force increased with an increase in the particle diameter of aluminium dioxide contained in the abrasive paper, and decreased with an increase in the scanning velocity of the manipulator over the abrasive paper. Because these results are consistent with tribology, we conclude that the present tactile sensor has sufficient dynamic sensing capability to detect normal and shearing forces. | |||||
| 言語 | en | |||||
| 出版者 | ||||||
| 出版者 | IEEE | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプ識別子 | http://purl.org/coar/resource_type/c_6501 | |||||
| 資源タイプ | journal article | |||||
| 出版タイプ | ||||||
| 出版タイプ | VoR | |||||
| 出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
| ISBN | ||||||
| 関連タイプ | isPartOf | |||||
| 識別子タイプ | ISBN | |||||
| 関連識別子 | 0-7803-8912-3 | |||||
| 書誌情報 |
en : 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems 巻 2, p. 1959-1964, 発行日 2005-08-02 |
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| フォーマット | ||||||
| 値 | application/pdf | |||||
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| 値 | publisher | |||||
| URI | ||||||
| 識別子 | http://hdl.handle.net/2237/7310 | |||||
| 識別子タイプ | HDL | |||||
