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IROS
2008
IEEE

Measurement of force vector field of robotic finger using vision-based haptic sensor

10 years 3 months ago
Measurement of force vector field of robotic finger using vision-based haptic sensor
—It is expected that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous manipulations. Therefore, we have developed a new type of finger-shaped haptic sensor that can measure a three-dimensional force vector field over a contact surface. The sensor consists of a transparent elastic body, two layers of internal blue and red markers, and a CCD camera to capture the movements of the markers. Using the elastic theory, we can calculate the force vector field from the captured movements of the markers. However, the elastic theory cannot be applied to the finger-shaped sensor because of its complicated shape. Therefore, we use actual measurements for the calibration in order to develop a prototype of the sensor. Then, we evaluate its basic performance. The result shows that the sensor performance can be improved further, and the sensor can be successfully used in a robotic hand.
Katsunari Sato, Kazuto Kamiyama, Hideaki Nii, Naok
Added 31 May 2010
Updated 31 May 2010
Type Conference
Year 2008
Where IROS
Authors Katsunari Sato, Kazuto Kamiyama, Hideaki Nii, Naoki Kawakami, Susumu Tachi
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