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Development of a whole‐body haptic sensor with multiple supporting points and its application to a manipulator
Author(s) -
Hanyu Ryosuke,
Tsuji Toshiaki
Publication year - 2012
Publication title -
electrical engineering in japan
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.136
H-Index - 28
eISSN - 1520-6416
pISSN - 0424-7760
DOI - 10.1002/eej.22310
Subject(s) - haptic technology , mechanism (biology) , frame (networking) , stiffness , computer science , point (geometry) , robot end effector , simulation , position (finance) , manipulator (device) , control engineering , engineering , artificial intelligence , structural engineering , physics , robot , mathematics , geometry , finance , quantum mechanics , economics , telecommunications
Abstract This paper proposes a whole‐body haptic sensing system that has multiple supporting points between the body frame and the end‐effector. The system consists of an end‐effector and multiple force sensors. Using this mechanism, the position of a contact force on the surface can be calculated without any sensor array. A haptic sensing system with a single supporting point structure has previously been developed by the present authors. However, the system has drawbacks such as low stiffness and low strength. Therefore, in this study, a mechanism with multiple supporting points was proposed and its performance was verified. In this paper, the basic concept of the mechanism is first introduced. Next, an evaluation of the proposed method, performed by conducting some experiments, is presented. © 2012 Wiley Periodicals, Inc. Electr Eng Jpn, 182(1): 48‐56, 2013; Published online in Wiley Online Library (wileyonlinelibrary.com). DOI 10.1002/eej.22310