Whole-body force sensation by robot with outer shell

This paper proposes a force-sensing mechanism for a robot. The mechanism is composed of a force sensor device and an end-effector of shell-shape. Since the end-effector plays a role of an outer shell, force can be sensed at any positions on whole body. In other word, whole-body force sensation is realized. It is possible to calculate the position of a contact point without any sensor array. Hence costs and wirings are reduced. Another merit is that 6-axis resultant force is measurable in contrast with conventional tactile sensors. Experimental results of a mobile robot are shown to verify the validity of the proposed mechanism.