DocumentCode
3520115
Title
A simple and compliant force sensing palm for the MLab Simple Hand
Author
Zeglin, Garth ; Rodriguez, Alex ; Mason, Matthew T.
Author_Institution
Robot. Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA
fYear
2013
fDate
6-10 May 2013
Firstpage
2367
Lastpage
2373
Abstract
Sensing the forces applied to the palm of a robot manipulator requires robust compliant sensors guarded against collision. The force sensing palm for the MLab Simple Hand measures three components of net contact force in a simple robust design using flexure springs and optical position sensing. The hand is calibrated in an automatic process. Measurements are included to compare performance to the theoretical model.
Keywords
force sensors; manipulators; position measurement; MLab Simple Hand; automatic calibration process; compliant sensors; flexure springs; force sensing palm; optical position sensing; robot manipulator; Force; Manipulators; Optical sensors; Reliability; Resilience; Springs; Stimulated emission;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation (ICRA), 2013 IEEE International Conference on
Conference_Location
Karlsruhe
ISSN
1050-4729
Print_ISBN
978-1-4673-5641-1
Type
conf
DOI
10.1109/ICRA.2013.6630898
Filename
6630898
Link To Document