Title :
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
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;
Conference_Titel :
Ubiquitous Robots and Ambient Intelligence (URAI), 2011 8th International Conference on
Conference_Location :
Incheon
Print_ISBN :
978-1-4577-0722-3
DOI :
10.1109/URAI.2011.6145882
