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

Tae Keun Kim, Bong Seok Kim, Sungyun 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 Dec 1
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

Fingerprint

Force control
End effectors
Torque
Robots
Sensors
Calibration
Finite element method

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Kim, T. K., Kim, B. S., Choi, S., Kim, D., & Hwang, J. H. (2012). 2-DOF torque sensor for precise force control of robot hand. In 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 (pp. 892-895). [6386408] (IEEE International Conference on Automation Science and Engineering). https://doi.org/10.1109/CoASE.2012.6386408

2-DOF torque sensor for precise force control of robot hand. / Kim, Tae Keun; Kim, Bong Seok; Choi, Sungyun; Kim, Daeho; Hwang, Jung Hoon.

2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012. 2012. p. 892-895 6386408 (IEEE International Conference on Automation Science and Engineering).

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

Kim, TK, Kim, BS, Choi, S, Kim, D & Hwang, JH 2012, 2-DOF torque sensor for precise force control of robot hand. in 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012., 6386408, IEEE International Conference on Automation Science and Engineering, pp. 892-895, 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012, Seoul, Korea, Republic of, 12/8/20. https://doi.org/10.1109/CoASE.2012.6386408
Kim TK, Kim BS, Choi S, Kim D, Hwang JH. 2-DOF torque sensor for precise force control of robot hand. In 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012. 2012. p. 892-895. 6386408. (IEEE International Conference on Automation Science and Engineering). https://doi.org/10.1109/CoASE.2012.6386408
Kim, Tae Keun ; Kim, Bong Seok ; Choi, Sungyun ; Kim, Daeho ; Hwang, Jung Hoon. / 2-DOF torque sensor for precise force control of robot hand. 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012. 2012. pp. 892-895 (IEEE International Conference on Automation Science and Engineering).
@inproceedings{4537c2f4fa4448f9a823032f5cdbe185,
title = "2-DOF torque sensor for precise force control of robot hand",
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.",
author = "Kim, {Tae Keun} and Kim, {Bong Seok} and Sungyun Choi and Daeho Kim and Hwang, {Jung Hoon}",
year = "2012",
month = "12",
day = "1",
doi = "10.1109/CoASE.2012.6386408",
language = "English",
isbn = "9781467304283",
series = "IEEE International Conference on Automation Science and Engineering",
pages = "892--895",
booktitle = "2012 IEEE International Conference on Automation Science and Engineering",

}

TY - GEN

T1 - 2-DOF torque sensor for precise force control of robot hand

AU - Kim, Tae Keun

AU - Kim, Bong Seok

AU - Choi, Sungyun

AU - Kim, Daeho

AU - Hwang, Jung Hoon

PY - 2012/12/1

Y1 - 2012/12/1

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

ER -