Three-Axis Flat and Lightweight Force/Torque Sensor for Enhancing Kinesthetic Sensing Capability of Robotic Hand

Authors
Park, SungwooHwang, Donghyun
Issue Date
2024-10
Publisher
Institute of Electrical and Electronics Engineers
Citation
IEEE Transactions on Industrial Electronics, v.71, no.10, pp.12707 - 12717
Abstract
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.
Keywords
FORCE/TORQUE SENSOR; TACTILE; FORCE; TOUCH; Capacitive sensor; force/torque (F/T) sensor; kinesthetic-feedback; robotic hand
ISSN
0278-0046
URI
https://pubs.kist.re.kr/handle/201004/149412
DOI
10.1109/TIE.2023.3344833
Appears in Collections:
KIST Article > 2024
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