[논문]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

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

IEEE robotics and automation letters, v.5 no.4, 2020년, pp.5566 - 5572

Kim, Uikyum (Department of Robotics & Mechatronics, Korea Institute of Machinery & Materials, Daejeon, Korea) , Jeong, Heeyeon (Department of Robotics & Mechatronics, Korea Institute of Machinery & Materials, Daejeon, Korea) , Do, Hyunmin (Department of Robotics & Mechatronics, Korea Institute of Machinery & Materials, Daejeon, Korea) , Park, Jongwoo (Department of Robotics & Mechatronics, Korea Institute of Machinery & Materials, Daejeon, Korea) , Park, Chanhun (Department of Robotics & Mechatronics, Korea Institute of Machinery & Materials, Daejeon, Korea)

Abstract ▼ AI-Helper

To manipulate objects using a robot hand, it is important to measure the information of the various forces on the fingertips. In this letter, a six-axis force/torque (F/T) fingertip sensor for a robot hand is introduced. The sensor was developed to provide the ability to measure six-axis F/T while remaining feasible for robot fingertip integration because of its miniaturization, light weight, and low cost (thanks to its simple manufacturing process). In particular, a novel highly sensitive shear force measurement method is proposed that uses the eccentricity of two cylinders. The designed six-axis F/T sensor was also fabricated. We demonstrate that the developed sensor can be easily installed into the human-sized fingertip of a robot, and we performed an accuracy evaluation using several experiments.

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DOI : 10.1109/LRA.2020.3009072
IEEE : 저널 > 논문

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