TY - GEN
T1 - Implementation of a remote center of motion robot finger with tactile sensors in the joints
AU - Hsu, Chincheng
AU - Schmitz, Alexander
AU - Khullar, Gagan
AU - Kristanto, Harris
AU - Wang, Zhen
AU - Sathe, Prathamesh
AU - Sugano, Shigeki
N1 - Funding Information:
This research was supported by the JSPS Grant-in-Aid for Scientific Research No. JP19J14998, No. JP17K18183, No. 19K14948, No. 19H02116 and No. 19H01130. Corresponding author: Chincheng Hsu 1The authors are with the Sugano Lab, Department of Modern Mechanical Engineering, School of Creative Science and Engineering, Waseda University, Tokyo, Japan. contact: chincheng hsu@fuji.waseda.jp
Funding Information:
This research was supported by the JSPS Grant-in-Aid for Scientific Research No. JP19J14998, No. JP17K18183, No. 19K14948, No. 19H02116
Publisher Copyright:
© 2019 IEEE.
PY - 2019/12
Y1 - 2019/12
N2 - Robot grippers and hands are commonly used to grasp various objects. However, for multi-link fingers, it is challenging to cover the joints with tactile sensors, which limits the safety and sensitivity of such fingers. In the current paper we use a remote center of motion (RCM) mechanism for the joints, which enables us to cover also the joints completely with soft and thick tactile sensors, in particular distributed 3-axis sensors. The RCM joints are implemented as 6-bars, and we evaluate their robustness in simulation. A real implementation of the gripper is tested by grasping various objects, and the resulting tactile sensor readings are presented.
AB - Robot grippers and hands are commonly used to grasp various objects. However, for multi-link fingers, it is challenging to cover the joints with tactile sensors, which limits the safety and sensitivity of such fingers. In the current paper we use a remote center of motion (RCM) mechanism for the joints, which enables us to cover also the joints completely with soft and thick tactile sensors, in particular distributed 3-axis sensors. The RCM joints are implemented as 6-bars, and we evaluate their robustness in simulation. A real implementation of the gripper is tested by grasping various objects, and the resulting tactile sensor readings are presented.
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U2 - 10.1109/ROBIO49542.2019.8961450
DO - 10.1109/ROBIO49542.2019.8961450
M3 - Conference contribution
AN - SCOPUS:85079073594
T3 - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
SP - 247
EP - 252
BT - IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2019 IEEE International Conference on Robotics and Biomimetics, ROBIO 2019
Y2 - 6 December 2019 through 8 December 2019
ER -