The new 2 DOF frame torque sensor for the Metacarpophalangeal joint in robotic hand

Author

Kim, Dae-Ho ; Kim, Bong-Seok ; Hwang, Jung-Hoon ; Kim, Eun-Tai

Author_Institution

Dept. of Electr. & Eng., Yonsei Univ., Seoul, South Korea

fYear

2011

fDate

23-26 Nov. 2011

Firstpage

556

Lastpage

559

Abstract

This paper presents a new type of 2 DOF frame torque sensor for replacing the pair of 1 DOF torque sensors. The 1 DOF torque sensors were used in Metacarpophalangeal(MCP) joint as well as Proximal Interphalangeal(PIP) joints of our previous version of robotic hand. However, because of the complexity in the MCP joint, the installation of the 1 DOF torque sensor was very complicated and the torques of the MCP joint were measured in combination. To overcome these, a new 2 DOF frame torque sensor was designed and verified in experiments. The developed sensor is being applied to the new version of robotic hand.

Keywords

computational complexity; dexterous manipulators; force control; force sensors; torque control; 1 DOF torque sensors; 2 DOF frame torque sensor; MCP joint complexity; force control; metacarpophalangeal joint; proximal interphalangeal joints; robot finger; robotic hand; torque control; Joints; Robot sensing systems; Thumb; Torque; Torque measurement; force control; frame torque sensor; robot finger; robotic hand; torque control;

fLanguage

English

Publisher

ieee

Conference_Titel

Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on

Conference_Location

Incheon

Print_ISBN

978-1-4577-0722-3

Type

conf

DOI

10.1109/URAI.2011.6145882

Filename

6145882