Park, Sungwoo Hwang, Donghyun 2024-03-07T05:00:23Z 2024-03-07T05:00:23Z 2024-03-07 2024-10 0278-0046 https://pubs.kist.re.kr/handle/201004/149412 When using a robot hand to grip objects, visual information is frequently adopted to determine the external characteristics of objects. However, in reality, purely visual data are insufficient to grasp unspecified objects; somatosensory feedback, which includes tactile and kinesthetic feedbacks, is required to understand the diverse intrinsic properties of objects. We implement a three-axis force/torque (F/T) sensor to measure the interaction force at the joints of a robotic hand and determine the various intrinsic characteristics that aid in grasping previously unknown objects. We primarily focus on a modular, compact, and lightweight structure to embed the sensors in the robotic hand. A novel radially symmetric diaphragm flexure structure is designed to achieve this objective. Several experiments are conducted to validate the performance of the F/T sensor. The functionality of the kinesthetic feedback is demonstrated using a stiffness and weight measurement experiment. The experimental findings demonstrate that the proposed sensor-embedded robotic hand can measure stiffness and weight with errors of 0.0073 N/mm and 8.72 g, respectively. English Institute of Electrical and Electronics Engineers Three-Axis Flat and Lightweight Force/Torque Sensor for Enhancing Kinesthetic Sensing Capability of Robotic Hand Article 10.1109/TIE.2023.3344833 1 IEEE Transactions on Industrial Electronics, v.71, no.10, pp.12707 - 12717 IEEE Transactions on Industrial Electronics 71 10 12707 12717 N scie scopus 001167346400001 2-s2.0-85182949120 Automation & Control Systems Engineering, Electrical & Electronic Instruments & Instrumentation Automation & Control Systems Engineering Instruments & Instrumentation Article FORCE/TORQUE SENSOR TACTILE FORCE TOUCH Capacitive sensor force/torque (F/T) sensor kinesthetic-feedback robotic hand