scholarly journals Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection Using Tactile Sensor

2007 ◽  
Vol 25 (6) ◽  
pp. 970-978 ◽  
Author(s):  
Daisuke Gunji ◽  
Takuma Araki ◽  
Akio Namiki ◽  
Aiguo Ming ◽  
Makoto Shimojo
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

Grasping force control of multi-fingered robot hand based on slip detection using tactile sensor

2008 ◽  
Author(s):  
Daisuke Gunji ◽  
Yoshitomo Mizoguchi ◽  
Seiichi Teshigawara ◽  
Aiguo Ming ◽  
Akio Namiki ◽  
...  
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

Grasping force control of multi-fingered robot hand based on slip detection sing tactile sensor

2008 ◽  
Author(s):  
Daisuke Gunji ◽  
Yoshitomo Mizoguch ◽  
Seiichi Teshigawara ◽  
Aiguo Ming ◽  
Akio Namiki ◽  
...  
Keyword(s):  
Force Control ◽  
Tactile Sensor ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

scholarly journals 1A2-B07 Grasping Force Control of Multi-fingered Robot Hand based on Slip Detection

2007 ◽  
Vol 2007 (0) ◽  
pp. _1A2-B07_1-_1A2-B07_4
Author(s):  
Daisuke Gunji ◽  
Yoshitomo Mizoguchi ◽  
Aigou Ming ◽  
Akio Namiki ◽  
Masatoshi Ishikawa ◽  
...  
Keyword(s):  
Force Control ◽  
Robot Hand ◽  
Grasping Force ◽  
Slip Detection

A Flexible Tactile Capacitive Sensor for Slip Detection

2011 ◽  
Author(s):  
Jinah Chung ◽  
Baek-chul Kim ◽  
H. R. Choi ◽  
H. P. Moon ◽  
Y. K. Lee ◽  
...  
Keyword(s):  
Tactile Sensor ◽  
Capacitive Sensor ◽  
Robot Hand ◽  
Sensor Device ◽  
Sensor Structure ◽  
Slip Sensor ◽  
Slip Detection

A tactile sensor for slip detection is necessary for humanlike grasping in robot hand. This paper reports a capacitive tactile slip sensor that can detect slip on the surface of the sensor structure. The newly developed capacitive slip sensor uses acrlyro-nitrile butadien rubber (NBR) as substrate. The presented sensor device in this paper has fingerprint -like structures that are similar with the role of the human’s fingerprint. Movement of the structure that attached on surface of substrate arise capacitance changes, and these are used to detect slip. We carried out slip experiment by prototype of capacitive slip sensor and slip was successfully detected.

scholarly journals Grasping Force Control for a Robotic Hand by Slip Detection Using Developed Micro Laser Doppler Velocimeter

Sensors ◽  
2018 ◽  
Vol 18 (2) ◽  
pp. 326 ◽  
Author(s):  
Nobutomo Morita ◽  
Hirofumi Nogami ◽  
Eiji Higurashi ◽  
Renshi Sawada
Keyword(s):  
Force Control ◽  
Laser Doppler ◽  
Laser Doppler Velocimeter ◽  
Robotic Hand ◽  
Grasping Force ◽  
Slip Detection

A Control Method for Robot Fingers with Three-Axis Force Sensor

2014 ◽  
Vol 614 ◽  
pp. 175-178
Author(s):  
Ming Hua Luo ◽  
Chun Wei Pan ◽  
Xiu Wen Yang ◽  
Xin Hua Luo
Keyword(s):  
Control System ◽  
Force Control ◽  
Force Feedback ◽  
Control Method ◽  
Dynamic Balance ◽  
Force Sensor ◽  
Robot Hand ◽  
Closed Loops ◽  
Force Control System ◽  
Grasping Force

This paper proposed a new grasping method for robot fingers with three-axis force sensors. When a robot hand with two fingers is grasping an object, such as an egg, two closed loops with negative feedback in force-control system are start. When grasping force of the two fingers are equal reference force, dynamic balance is reached. Once tiny sliding between egg and finger occurred, force feedback start immediately, dynamic balance is reached again. In this way, our robot hand can firmly grasps eggs, even if vibration added on the robot hand.

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