Development and structure evaluation of small sensor element for distributed-type tri-axial force sensor of robot finger

Author

Ito, Akihito ; Nojiri, Yoshiro ; Tsujiuchi, Nobutaka ; Koizumi, Takayuki ; Oshima, Hiroko ; Tsuchiya, Yotaro ; Hirama, Naomichi ; Kurogi, Shiro

Author_Institution

Dept. of Mech. Eng., Doshisha Univ., Kyotanabe

fYear

2007

fDate

15-18 Dec. 2007

Firstpage

1309

Lastpage

1314

Abstract

For the purpose of the development of a distributed-type tactile sensor for a robot finger, a small sensor element is developed, and an evaluation of its structure is carried out. In this paper, a small sensor element is presented the dimensions of which are 5 mm in length, 5 mm in width, and 1 mm in thickness. The sensor´s structure was evaluated by simulation and experiment from the viewpoints of strain gauge sensitivity, force sensitivity, conditional number, and rigidity. As a result, it was proven that the proposed sensor element could be miniaturized, and could measure tri-axial force.

Keywords

distributed sensors; force sensors; manipulators; microsensors; tactile sensors; conditional number; distributed-type tactile sensor development; distributed-type tri-axial force sensor; force sensitivity; rigidity evaluation; robot finger; small sensor element; strain gauge sensitivity; Capacitive sensors; Fingers; Force measurement; Force sensors; Gas detectors; Leg; Robot sensing systems; Service robots; Strain measurement; Tactile sensors; distributed-type sensor; finite element analysis; strain gauges; tactile sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Biomimetics, 2007. ROBIO 2007. IEEE International Conference on

Conference_Location

Sanya

Print_ISBN

978-1-4244-1761-2

Electronic_ISBN

978-1-4244-1758-2

Type

conf

DOI

10.1109/ROBIO.2007.4522353

Filename

4522353