Force control of robot fingers using series elastic actuators

Seung Yup Lee, Byeong Sang Kim, Jae Bok Song, Soo Won Chae

Research output: Contribution to journalArticle

1 Citation (Scopus)

Abstract

Robot hands capable of grasping or handling various objects are important for service robots to effectively aid humans. In particular, controlling a contact force and providing a compliant motion are essential when the hand is in contact with objects. Many dexterous robot hands equipped with force/torque sensors have been developed to perform force control, but they suffer from the complexity of control and high cost. In this paper, a low-cost robot hand based on SEA (Series Elastic Actuator), which is composed of compression spring, stretch sensor, and wire, is proposed. The grasping force can be estimated by measuring the compression length of spring, which would allow the hand to perform force control. A series of experimentations are carried out to verify the performance of force control of the proposed robot hand, and it is shown that it can successfully control the contact force without any additional force/torque sensors.

Original languageEnglish
Pages (from-to)964-969
Number of pages6
JournalJournal of Institute of Control, Robotics and Systems
Volume18
Issue number10
DOIs
Publication statusPublished - 2012

Keywords

  • Robot hand
  • Sea (Series Elastic Actuator)

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Applied Mathematics

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