TY - GEN
T1 - 2-DOF torque sensor for precise force control of robot hand
AU - Kim, Tae Keun
AU - Kim, Bong Seok
AU - Choi, Seung Yun
AU - Kim, Daeho
AU - Hwang, Jung Hoon
PY - 2012
Y1 - 2012
N2 - For a robot hand to make a stable contact with its environment and perform various tasks, it must be equipped with torque sensors to accurately measure its torques. However, conventional torque sensors are too bulky and expensive to be used for a robot hand. To cope with these problems, in this study, we propose a novel 2-DOF torque sensor, which uses the link frame of a robot hand as the torque sensor structure. Through FEM (Finite Element Method) analysis, the size of the sensor was minimized, while its unique structure minimizes cross-talks, thus enabling precise measurement of torques. Its performance was verified using a torque sensor calibration set.
AB - For a robot hand to make a stable contact with its environment and perform various tasks, it must be equipped with torque sensors to accurately measure its torques. However, conventional torque sensors are too bulky and expensive to be used for a robot hand. To cope with these problems, in this study, we propose a novel 2-DOF torque sensor, which uses the link frame of a robot hand as the torque sensor structure. Through FEM (Finite Element Method) analysis, the size of the sensor was minimized, while its unique structure minimizes cross-talks, thus enabling precise measurement of torques. Its performance was verified using a torque sensor calibration set.
UR - http://www.scopus.com/inward/record.url?scp=84872520051&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872520051&partnerID=8YFLogxK
U2 - 10.1109/CoASE.2012.6386408
DO - 10.1109/CoASE.2012.6386408
M3 - Conference contribution
AN - SCOPUS:84872520051
SN - 9781467304283
T3 - IEEE International Conference on Automation Science and Engineering
SP - 892
EP - 895
BT - 2012 IEEE International Conference on Automation Science and Engineering
T2 - 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
Y2 - 20 August 2012 through 24 August 2012
ER -