Whole-Body Force Sensation by Force Sensor With Shell-Shaped End-Effector
This paper proposes a tactile-sensing mechanism for a robot. The mechanism is composed of a force-sensor device and an end-effector of shell shape. Since the end-effector plays the role of an outer shell, a force can be sensed at any position on the body. Due to the aspect of its intrinsic contact s...
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| Veröffentlicht in: | IEEE transactions on industrial electronics (1982) 2009-05, Vol.56 (5), p.1375-1382 |
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| container_title | IEEE transactions on industrial electronics (1982) |
| container_volume | 56 |
| creator | Tsuji, T. Kaneko, Y. Abe, S. |
| description | This paper proposes a tactile-sensing mechanism for a robot. The mechanism is composed of a force-sensor device and an end-effector of shell shape. Since the end-effector plays the role of an outer shell, a force can be sensed at any position on the body. Due to the aspect of its intrinsic contact sensing, position of the single contact point is calculable without any sensor array. Another advantage is that the six-axis resultant force is measurable. This paper shows that the mechanism is also available for the end-effector with an angulated shape. The only condition for the shape is to be a convex hull. Some experimental results evaluate sources of error in practical measurement and show the validity of the proposed mechanism. |
| doi_str_mv | 10.1109/TIE.2009.2014748 |
| format | Article |
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The mechanism is composed of a force-sensor device and an end-effector of shell shape. Since the end-effector plays the role of an outer shell, a force can be sensed at any position on the body. Due to the aspect of its intrinsic contact sensing, position of the single contact point is calculable without any sensor array. Another advantage is that the six-axis resultant force is measurable. This paper shows that the mechanism is also available for the end-effector with an angulated shape. The only condition for the shape is to be a convex hull. Some experimental results evaluate sources of error in practical measurement and show the validity of the proposed mechanism.</description><identifier>ISSN: 0278-0046</identifier><identifier>EISSN: 1557-9948</identifier><identifier>DOI: 10.1109/TIE.2009.2014748</identifier><identifier>CODEN: ITIED6</identifier><language>eng</language><publisher>New York: IEEE</publisher><subject>Contact ; Error analysis ; Force control ; Force measurement ; Force sensation ; force sensor ; Force sensors ; haptic sensor ; Hulls ; Hulls (structures) ; Humans ; Orbital robotics ; Resultants ; Robot sensing systems ; Robots ; Safety ; Sensor arrays ; Shape ; Shells ; tactile sensation ; tactile sensor ; Tactile sensors ; whole-body force sensation</subject><ispartof>IEEE transactions on industrial electronics (1982), 2009-05, Vol.56 (5), p.1375-1382</ispartof><rights>Copyright The Institute of Electrical and Electronics Engineers, Inc. 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The mechanism is composed of a force-sensor device and an end-effector of shell shape. Since the end-effector plays the role of an outer shell, a force can be sensed at any position on the body. Due to the aspect of its intrinsic contact sensing, position of the single contact point is calculable without any sensor array. Another advantage is that the six-axis resultant force is measurable. This paper shows that the mechanism is also available for the end-effector with an angulated shape. The only condition for the shape is to be a convex hull. Some experimental results evaluate sources of error in practical measurement and show the validity of the proposed mechanism.</description><subject>Contact</subject><subject>Error analysis</subject><subject>Force control</subject><subject>Force measurement</subject><subject>Force sensation</subject><subject>force sensor</subject><subject>Force sensors</subject><subject>haptic sensor</subject><subject>Hulls</subject><subject>Hulls (structures)</subject><subject>Humans</subject><subject>Orbital robotics</subject><subject>Resultants</subject><subject>Robot sensing systems</subject><subject>Robots</subject><subject>Safety</subject><subject>Sensor arrays</subject><subject>Shape</subject><subject>Shells</subject><subject>tactile sensation</subject><subject>tactile sensor</subject><subject>Tactile sensors</subject><subject>whole-body force sensation</subject><issn>0278-0046</issn><issn>1557-9948</issn><fulltext>true</fulltext><rsrctype>article</rsrctype><creationdate>2009</creationdate><recordtype>article</recordtype><sourceid>RIE</sourceid><recordid>eNqF0c9LwzAUB_AgCs7pXfBSPOip86X50eSoo9PBwMMmO4YuTWhH18ykO-y_N2NDxINe8iB8XvIeX4RuMYwwBvm0mBajDEDGA9OcijM0wIzlqZRUnKMBZLlIASi_RFchrCEihtkATZe1a0364qp9MnFem2RuulD2jeuS1c8r55Nl09fJvDZtm87rcmuqpOiqtLDW6N75a3RhyzaYm1Mdoo9JsRi_pbP31-n4eZZqIlifWkI0MXTFbEWFZWVGQBougBMpwWrLhGbSsJwIITEHwTVgy7iuVqAJoYwM0ePx3a13nzsTerVpgo5DlZ1xu6AkEE4Fl9m_MiJBKZUiyoc_JaE0FwTnEd7_gmu3813cVwmWU0a5OEwIR6S9C8Ebq7a-2ZR-rzCoQ1gqhqUOYalTWLHl7tjSGGO-efwUM8LJF4e5jNI</recordid><startdate>20090501</startdate><enddate>20090501</enddate><creator>Tsuji, T.</creator><creator>Kaneko, Y.</creator><creator>Abe, S.</creator><general>IEEE</general><general>The Institute of Electrical and Electronics Engineers, Inc. (IEEE)</general><scope>97E</scope><scope>RIA</scope><scope>RIE</scope><scope>AAYXX</scope><scope>CITATION</scope><scope>7SP</scope><scope>8FD</scope><scope>L7M</scope><scope>F28</scope><scope>FR3</scope></search><sort><creationdate>20090501</creationdate><title>Whole-Body Force Sensation by Force Sensor With Shell-Shaped End-Effector</title><author>Tsuji, T. ; Kaneko, Y. ; Abe, S.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-c385t-f33c3e4b5fd48f5a2309e68063990fcf58c59e57388916086c01f56cdb0c33453</frbrgroupid><rsrctype>articles</rsrctype><prefilter>articles</prefilter><language>eng</language><creationdate>2009</creationdate><topic>Contact</topic><topic>Error analysis</topic><topic>Force control</topic><topic>Force measurement</topic><topic>Force sensation</topic><topic>force sensor</topic><topic>Force sensors</topic><topic>haptic sensor</topic><topic>Hulls</topic><topic>Hulls (structures)</topic><topic>Humans</topic><topic>Orbital robotics</topic><topic>Resultants</topic><topic>Robot sensing systems</topic><topic>Robots</topic><topic>Safety</topic><topic>Sensor arrays</topic><topic>Shape</topic><topic>Shells</topic><topic>tactile sensation</topic><topic>tactile sensor</topic><topic>Tactile sensors</topic><topic>whole-body force sensation</topic><toplevel>peer_reviewed</toplevel><toplevel>online_resources</toplevel><creatorcontrib>Tsuji, T.</creatorcontrib><creatorcontrib>Kaneko, Y.</creatorcontrib><creatorcontrib>Abe, S.</creatorcontrib><collection>IEEE All-Society Periodicals Package (ASPP) 2005-present</collection><collection>IEEE All-Society Periodicals Package (ASPP) 1998-Present</collection><collection>IEEE Electronic Library (IEL)</collection><collection>CrossRef</collection><collection>Electronics & Communications Abstracts</collection><collection>Technology Research Database</collection><collection>Advanced Technologies Database with Aerospace</collection><collection>ANTE: Abstracts in New Technology & Engineering</collection><collection>Engineering Research Database</collection><jtitle>IEEE transactions on industrial electronics (1982)</jtitle></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Tsuji, T.</au><au>Kaneko, Y.</au><au>Abe, S.</au><format>journal</format><genre>article</genre><ristype>JOUR</ristype><atitle>Whole-Body Force Sensation by Force Sensor With Shell-Shaped End-Effector</atitle><jtitle>IEEE transactions on industrial electronics (1982)</jtitle><stitle>TIE</stitle><date>2009-05-01</date><risdate>2009</risdate><volume>56</volume><issue>5</issue><spage>1375</spage><epage>1382</epage><pages>1375-1382</pages><issn>0278-0046</issn><eissn>1557-9948</eissn><coden>ITIED6</coden><abstract>This paper proposes a tactile-sensing mechanism for a robot. 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| ispartof | IEEE transactions on industrial electronics (1982), 2009-05, Vol.56 (5), p.1375-1382 |
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| language | eng |
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| source | IEEE Electronic Library (IEL) |
| subjects | Contact Error analysis Force control Force measurement Force sensation force sensor Force sensors haptic sensor Hulls Hulls (structures) Humans Orbital robotics Resultants Robot sensing systems Robots Safety Sensor arrays Shape Shells tactile sensation tactile sensor Tactile sensors whole-body force sensation |
| title | Whole-Body Force Sensation by Force Sensor With Shell-Shaped End-Effector |
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