柔軟構造を用いた微小接触力計測センサの開発とその基礎特性(機械力学,計測,自動制御)

概要

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In this paper, we propose a flexible structural contact sensor that enables a robot to detect tiny contact force with environment. In order to realize safe and skillful grasping by a robot hand as human does, the flexible structure and sensibility to detect contact force is very important. This sensor consists only of thin elastic metalic plates and strain gages. Contact force can be calculated by measuring deformation of elastic plates with strain gages. And this sensor can also estimate the location of a contact point. The relationship between contact point and strains is obtained theoretically. Compared with theoretical results and experimental results using a prototype sensor, we could obtain an advisable agreement between them. So we confirmed that this sensor could measure tiny contact force and estimate the contact point.
社団法人日本機械学会の論文
2002-09-25