Title :
Force/moment sensing during sliding motion using a micro sensor embedded in a soft fingertip
Author :
Ho, Van Anh ; Dao, Dzung Viet ; Sugiyama, Susumu ; Hirai, Shinichi
Author_Institution :
Dept. of Robot., Ritsumeikan Univ., Kusatsu
Abstract :
We have investigated the deformation of a soft fingertip when it slides. This process was first simulated using ANSYS software with non-linear Finite Element Analysis (FEA). Based on the results of this simulation, we designed experiments to observe the sliding and object grasping of a soft fingertip, in which, a 4-DOF (degree of freedom) micro force/moment sensor was embedded inside the soft fingertip. With this sensor, values of force and moment acting in the fingertip are measured, based on the piezoresistive effect. These measurements provide information on the status of contact and sliding of a soft fingertip on a surface. Based on these results, incipient slip, which has an important role in object gripping by a robot manipulator, can be realized.
Keywords :
finite element analysis; force sensors; grippers; microsensors; piezoresistance; ANSYS software; force/moment sensing; microsensor; nonlinear finite element analysis; object grasping; object gripping; piezoresistive effect; robot manipulator; sliding motion; soft fingertip; Fingers; Force control; Force sensors; Humans; Mechanical sensors; Robot sensing systems; Robotics and automation; Rubber; Skin; Vibrations; contact status; incipient slip; micro force/moment sensor; soft fingertip;
Conference_Titel :
Control, Automation, Robotics and Vision, 2008. ICARCV 2008. 10th International Conference on
Conference_Location :
Hanoi
Print_ISBN :
978-1-4244-2286-9
Electronic_ISBN :
978-1-4244-2287-6
DOI :
10.1109/ICARCV.2008.4795510
