Name
Title | ||
|---|---|---|
Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand |
Abstract | ||
|---|---|---|
It is believed that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous operations. Therefore, we develop a new type of finger-shaped haptic sensor using GelForce technology. GelForce is a vision-based sensor that can be used to measure the distribution of force vectors, or surface traction fields. The simple structure of the GelForce enables us to develop a compact finger-shaped GelForce for the robotic hand. GelForce that is developed on the basis of an elastic theory can be used to calculate surface traction fields using a conversion equation. However, this conversion equation cannot be analytically solved when the elastic body of the sensor has a complicated shape such as the shape of a finger. Therefore, we propose an observational method and construct a prototype of the finger-shaped GelForce. By using this prototype, we evaluate the basic performance of the finger-shaped GelForce. Then, we conduct a field test by performing grasping operations using a robotic hand. The results of this test show that using the observational method, the finger-shaped GelForce can be successfully used in a robotic hand. |
Year | DOI | Venue |
|---|---|---|
2010 | 10.1109/TOH.2009.47 | Haptics, IEEE Transactions |
Keywords | Field | DocType |
gelforce technology,robotic hand,vision-based sensor,conversion equation,measuring surface traction fields,finger-shaped haptic sensor,finger-shaped gelforce,compact finger-shaped gelforce,observational method,complicated shape,haptic sensor,prototypes,humanoid robots,testing,shape,image sensors,force sensor | Force sensor,Computer vision,Robotic hand,Image sensor,Observational method,Computer science,Simulation,Control engineering,Traction (engineering),Artificial intelligence,Haptic technology,Humanoid robot | Journal |
Volume | Issue | ISSN |
3 | 1 | 1939-1412 |
Citations | PageRank | References |
26 | 2.06 | 6 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Katsunari Sato | 1 | 165 | 21.32 |
| Kazuto Kamiyama | 2 | 133 | 15.81 |
| Naoki Kawakami | 3 | 475 | 65.36 |
| Susumu Tachi | 4 | 1294 | 221.20 |