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Moment detection by integrated tactile sensors for partner robot applications
Electrical Engineering in Japan ( IF 0.4 ) Pub Date : 2020-12-13 , DOI: 10.1002/eej.23307 Motohiro Fujiyoshi 1 , Yoshiyuki Hata 1 , Kazuhiro Mima 2 , Hideki Hirano 3 , Masanori Muroyama 3 , Shuji Tanaka 3 , Takahiro Nakayama 2
Electrical Engineering in Japan ( IF 0.4 ) Pub Date : 2020-12-13 , DOI: 10.1002/eej.23307 Motohiro Fujiyoshi 1 , Yoshiyuki Hata 1 , Kazuhiro Mima 2 , Hideki Hirano 3 , Masanori Muroyama 3 , Shuji Tanaka 3 , Takahiro Nakayama 2
Affiliation
This paper reports on moment detection by three integrated tactile sensors that detect 3‐axis forces. In this study, the three integrated tactile sensors were connected along a serial bus and were mounted in a triangle shape on a circuit board. Out‐of‐plane moment applied on the circuit board was measured using the shearing forces and a geometric relationship of the triangle sensor allay. The principle of the proposed moment detection method was demonstrated. The experimental results showed that the sensitivity and the nonlinearity were 1.10 count/N·m and ±16% full scale, respectively. The resolution of the obtained moment was below 0.015 N∙m. The moment detection ability enables the partner robots to grasp objects correctly and to interact softly with human.
中文翻译:
通过集成的触觉传感器进行力矩检测,适用于合作伙伴机器人应用
本文介绍了通过三个可检测3轴力的集成式触觉传感器进行力矩检测的方法。在这项研究中,三个集成的触觉传感器沿着串行总线连接,并以三角形形状安装在电路板上。使用剪切力和三角形传感器通道的几何关系来测量施加在电路板上的平面外力矩。演示了所提出的力矩检测方法的原理。实验结果表明,灵敏度和非线性度分别为满量程的1.10 count / N·m和±16%。所获得力矩的分辨率低于0.015 N∙m。力矩检测功能使伙伴机器人能够正确地抓住物体并与人类进行轻柔的交互。
更新日期:2020-12-13
中文翻译:
通过集成的触觉传感器进行力矩检测,适用于合作伙伴机器人应用
本文介绍了通过三个可检测3轴力的集成式触觉传感器进行力矩检测的方法。在这项研究中,三个集成的触觉传感器沿着串行总线连接,并以三角形形状安装在电路板上。使用剪切力和三角形传感器通道的几何关系来测量施加在电路板上的平面外力矩。演示了所提出的力矩检测方法的原理。实验结果表明,灵敏度和非线性度分别为满量程的1.10 count / N·m和±16%。所获得力矩的分辨率低于0.015 N∙m。力矩检测功能使伙伴机器人能够正确地抓住物体并与人类进行轻柔的交互。