Measurement of mechanical impedance using quartz resonator force sensor during the process of grasping

Mechanical impedance of four types of cylindrical object was detected during the process of grasping. Generally, a robot hand must overcome sources of noise and suffers from dynamic forces. Therefore the sensor built into a robot hand is required to be insensitive to noise and to respond quickly. The quartz resonator force sensor described satisfies these conditions for measuring mechanical impedance.