DocumentCode
1552455
Title
A new structure for a fingertip force sensor
Author
Huang, Yu-Chung ; Chang, Ying-Hwi ; Chang, Wei-Shu
Author_Institution
Inst. of Electron., Nat. Chiao Tung Univ., Hsinchu, Taiwan
Volume
4
Issue
3
fYear
1999
fDate
9/1/1999 12:00:00 AM
Firstpage
293
Lastpage
300
Abstract
Presents a structural design for force/torque fingertip sensors to sense planar forces. Not only can the resolution be increased by reducing the condition number of the calibration matrix, but also the accuracy can be enhanced by a precise and simple calibration method. Moreover, the theoretical analysis and design procedure of the proposed structure are included in this paper, and experimental results demonstrate the proposed design
Keywords
calibration; dexterous manipulators; force sensors; matrix algebra; torque measurement; calibration matrix; condition number; fingertip force sensor; planar forces; structural design; Calibration; Capacitive sensors; Fingers; Force measurement; Force sensors; Robot sensing systems; Sensor arrays; Torque; Transducers; Transmission line matrix methods;
fLanguage
English
Journal_Title
Mechatronics, IEEE/ASME Transactions on
Publisher
ieee
ISSN
1083-4435
Type
jour
DOI
10.1109/3516.789687
Filename
789687
Link To Document