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A multi-axis force/moment sensor, which can measure force and moment, is helpful for robotic force control. However, the smallest multi-axis force/moment sensor has excessive height, which restricts postures in tasks by a robot hand. Therefore, we aim to optimize the structure of the thin-type four-axis force/moment sensor that we developed, which can measure the twisting moment on the finger cushion...
For the purpose of the development of a distributed-type tactile sensor for a robot finger, a small sensor element is developed, and an evaluation of its structure is carried out. In this paper, a small sensor element is presented the dimensions of which are 5 mm in length, 5 mm in width, and 1 mm in thickness. The sensor's structure was evaluated by simulation and experiment from the viewpoints of...
This paper describes output algorithms to evaluate slip, using our developed distributed-type force sensor. To realize advanced manipulation, it is necessary to acquire the forces and moments applied to the fingertips of the robot hand, and to evaluate the slip between the contacted object and the sensor. The algorithms continuously detect translational micro- and macro-slip. Micro-slip is detected...
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