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Sensing characteristics of an optical three-axis tactile sensor under combined loading
http://hdl.handle.net/2237/10276
http://hdl.handle.net/2237/102762eeb0d3b-5c48-49af-a5a1-17a9c1e0523b
| 名前 / ファイル | ライセンス | アクション |
|---|---|---|
Ohka_Masahiro_Sensing_characteristics_of_an_optical_three_axis_2004.pdf (470.9 kB)
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| Item type | 学術雑誌論文 / Journal Article(1) | |||||
|---|---|---|---|---|---|---|
| 公開日 | 2008-07-24 | |||||
| タイトル | ||||||
| タイトル | Sensing characteristics of an optical three-axis tactile sensor under combined loading | |||||
| 言語 | en | |||||
| 著者 |
Ohka, Masahiro
× Ohka, Masahiro× Mitsuya, Yasunaga× Matsunaga, Yasuaki× Takeuchi, Shuichi |
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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 | Cambridge University Press | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Tactile sensor | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Optical measurement | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Three-axis cell | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Combined loading | |||||
| キーワード | ||||||
| 主題Scheme | Other | |||||
| 主題 | Surface condition | |||||
| 抄録 | ||||||
| 内容記述タイプ | Abstract | |||||
| 内容記述 | This paper describes precision enhancement of an optical three-axis tactile sensor capable of detecting both normal force and tangential force. The sensor's single cell consists of a columnar feeler and 2-by-2 conical feelers. We have derived equations to precisely estimate the three-axis force from the area-sum and area-difference of the conical feelers’contact areas by taking into account wrench-length shrinkage caused by a vertical force. To evaluate the equations and determine constants included in the equations, we performed a series of calibration experiments using a manipulator-mounted tactile sensor and a combined load-testing machine. Subsequently. to evaluate the tactile sensor's practicality. it was mounted on the end of a robotic manipulator which rubbed flat specimens such as brass plates with step-heights of δ=0.05, 0.1, 0.2 mm and a brass plate with no step-height. We showed from the experimental data that the optical three-axis tactile sensor can detect not only the step-heights but also the distribution of the coefficient of friction, and that the sensor can detect fine plate inclination with accuracy to about ±0.4°. | |||||
| 言語 | en | |||||
| 出版者 | ||||||
| 出版者 | Cambridge University Press | |||||
| 言語 | en | |||||
| 言語 | ||||||
| 言語 | eng | |||||
| 資源タイプ | ||||||
| 資源タイプresource | http://purl.org/coar/resource_type/c_6501 | |||||
| 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 | |||||
| DOI | ||||||
| 関連タイプ | isVersionOf | |||||
| 識別子タイプ | DOI | |||||
| 関連識別子 | https://doi.org/10.1017/S0263574703005538 | |||||
| ISSN | ||||||
| 収録物識別子タイプ | PISSN | |||||
| 収録物識別子 | 0263-5747 | |||||
| 書誌情報 |
en : Robotica 巻 22, 号 2, p. 213-221, 発行日 2004-03 |
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| フォーマット | ||||||
| 値 | application/pdf | |||||
| 著者版フラグ | ||||||
| 値 | publisher | |||||
| URI | ||||||
| 識別子 | http://hdl.handle.net/2237/10276 | |||||
| 識別子タイプ | HDL | |||||
