2-DOF torque sensor for precise force control of robot hand

Tae Keun Kim, Bong Seok Kim, Seung Yun Choi, Daeho Kim, Jung Hoon Hwang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Automation Science and Engineering
Subtitle of host publicationGreen Automation Toward a Sustainable Society, CASE 2012
Pages892-895
Number of pages4
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 - Seoul, Korea, Republic of
Duration: 2012 Aug 202012 Aug 24

Publication series

NameIEEE International Conference on Automation Science and Engineering
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
CountryKorea, Republic of
CitySeoul
Period12/8/2012/8/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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