Six-Axis Force/Torque Fingertip Sensor for an Anthropomorphic Robot Hand

Kim, Uikyum; Jeong, Heeyeon; Do, Hyunmin; Park, Jongwoo; Park, Chanhun

doi:10.1109/lra.2020.3009072

Cited by 21 publications

(5 citation statements)

References 31 publications

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“…The magnitude of the contact force at the contact point was determined through the fingertip sensor, and the same force was applied to the fingertip and reference sensors. The performance of the fingertip sensor is described in a previous study 50 . The force applied by the fingers was sequentially increased in steps whereas the 25 mA current was increased every 2 s. The magnitude of each force measured by the fingertip and reference sensors was calculated as to compare the two values (Fig.…”

Section: Resultsmentioning

confidence: 99%

“…The F/T sensor can measure three orthogonal forces ( f x , f y , and f z ) and three orthogonal torques ( t x , t y , and t z ), which can be utilized to derive the location and triaxial contact force applied on the fingertip 54 – 56 . This miniature sensor used for measuring the forces on the fingertips was developed, and detailed information is provided by Kim 50 .…”

Section: Methodsmentioning

confidence: 99%

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Integrated linkage-driven dexterous anthropomorphic robotic hand

et al. 2021

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Robotic hands perform several amazing functions similar to the human hands, thereby offering high flexibility in terms of the tasks performed. However, developing integrated hands without additional actuation parts while maintaining important functions such as human-level dexterity and grasping force is challenging. The actuation parts make it difficult to integrate these hands into existing robotic arms, thus limiting their applicability. Based on a linkage-driven mechanism, an integrated linkage-driven dexterous anthropomorphic robotic hand called ILDA hand, which integrates all the components required for actuation and sensing and possesses high dexterity, is developed. It has the following features: 15-degree-of-freedom (20 joints), a fingertip force of 34N, compact size (maximum length: 218 mm) without additional parts, low weight of 1.1 kg, and tactile sensing capabilities. Actual manipulation tasks involving tools used in everyday life are performed with the hand mounted on a commercial robot arm.

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Section: Resultsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Integrated linkage-driven dexterous anthropomorphic robotic hand

et al. 2021

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“…However, piezoelectric materials are structurally fragile and easily damaged, which results in ageing and fatigue under long-term electromechanical coupling. When a capacitive six-axis force sensor [18][19][20][21][22] is subjected to an external load, the electrode plate of the capacitor produces a spacing change, relative dislocation, or posture deflection, resulting in capacitance charge and discharge. The sensor maps the force/torque of each dimension based on changes in the electrical signal.…”

Section: Introductionmentioning

confidence: 99%

Development and calibration of large deformation-compliant six-axis force sensor

Huang,

Yin,

et al. 2024

Meas. Sci. Technol.

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Improving the measurement accuracy and minimising the coupling between directions are the keys to researching the compliant six-axis force sensors.The use of a six-axis force sensor to accurately monitor the ground reaction force (GRF) and centre of pressure (COP) during human motion is of great significance in the fields of biomechanics and pathological gait diagnosis. Although complete force information can be obtained using a commercial six-axis force sensor, its high stiffness affects the natural gait and easily leads to human fatigue. A compliant six-axis force sensor based on a flexible optical waveguide is proposed, in which the force and torque of six dimensions are detected by reasonably arranging six modular sensing units, and the mechanical decoupling of some dimensions is realised in theory. For the interdimensional coupling and error caused by machining process factors, as well as the nonlinear relationship between the input and output of the proposed compliant six-axis force sensor, a DE-RBF decoupling algorithm is proposed to decouple the calibration data. Compared with the least squares method (LSM) and the radial basis function (RBF) neural network decoupling algorithm, the obtained type-I errors were reduced by 87.7629%, 43.6265%, respectively, and type-II errors by 35.3312%, 56.9162%, respectively. The decoupling result's maximum type-I and type-II errors were reduced from 7.7125% and 2.7382% in LSM and 3.1029% and 2.8917% in RBF to 0.5916% and 0.9558%, respectively. The measurement accuracy of the compliant six-axis force sensor was significantly higher; however, the time effectiveness of the proposed DE-RBF decoupling algorithm was slightly lower than that of the RBF neural network by 2.47%. In conclusion, the decoupling accuracy and timeliness of the proposed DE-RBF decoupling algorithm can satisfy the requirements of compliant six-axis force sensors to monitor low-frequency biomechanical signals, such as human motion.

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“…On the one hand, research efforts are being conducted to miniaturize and reduce the cost of strain gauge-based transducers through new design approaches, e.g., the three-axis force/torque sensor with only four strain gauges and a switchable quarterbridge [11]. On the other hand, new sensors based on alternative measuring concepts, such as capacitive [12] or optical transducers, are being investigated primarily with the aim of providing a cost-effective and miniaturizable alternative to conventional strain gauge-based transducers. In particular, optical-based non-contact sensors have gained special attention.…”

Section: Introductionmentioning

confidence: 99%

Sensor Integrated Load-Bearing Structures: Measuring Axis Extension with DIC-Based Transducers

Groche

2021

Sensors

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In this paper we present a novel, cost-effective camera-based multi-axis force/torque sensor concept for integration into metallic load-bearing structures. A two-part pattern consisting of a directly incident and mirrored light beam is projected onto the imaging sensor surface. This allows the capturing of 3D displacements, occurring due to structure deformation under load in a single image. The displacement of defined features in size and position can be accurately analyzed and determined through digital image correlation (DIC). Validation on a prototype shows good accuracy of the measurement and a unique identification of all in- and out-of-plane displacement components under multiaxial load. Measurements show a maximum deviation related to the maximum measured values between 2.5% and 4.8% for uniaxial loads ( and between 2.5% and 10.43% for combined bending, torsion and axial load. In the course of the investigations, the measurement inaccuracy was partly attributed to the joint used between the sensor parts and the structure as well as to eccentric load.

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Six-Axis Force/Torque Fingertip Sensor for an Anthropomorphic Robot Hand

Cited by 21 publications

References 31 publications

Integrated linkage-driven dexterous anthropomorphic robotic hand

Integrated linkage-driven dexterous anthropomorphic robotic hand

Development and calibration of large deformation-compliant six-axis force sensor

Sensor Integrated Load-Bearing Structures: Measuring Axis Extension with DIC-Based Transducers

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