Fingertip Three-Axis Tactile Sensor for Multifingered Grasping

	Fingertip Three-Axis Tactile Sensor for Multifingered Grasping
	Ting Zhang; Li Jiang; Xinyu Wu; Dingjiang Zhou; Hong Liu
刊名	IEEE-ASME TRANSACTIONS ON MECHATRONICS
	2015
英文摘要	A fingertip three-axis tactile sensor system with the capability of measuring both normal and shear force distribution using quantum tunneling composites is presented. The practical design and fabrication of a tactile sensor for the robot fingertip are described in detail. Also, an integrated fingertip-shaped tactile sensor with 13 tactile cells is developed. The tactile sensor is mounted on a multifingered robotic hand fingertip, and its effectiveness is validated with experimental results. The fabricated fingertip tactile sensor shows that the full-scale range of detectable force are about 10, 10, and 20N for the x-, y-, and z-directions, respectively. Each detector response was proportional to the magnitude of the applied stress. The fingertip tactile sensor showed a high repeatability, low hysteresis, and minimal three-axis force crosstalk. Experiments are conducted with dynamic grasping force control, based on fingertip three-axis sensor feedback. The grasping force of the finger is adjusted adaptively to the three-axis tactile feedback, such that the force on each fingertip is restricted inside the friction cone without any undesired slip or detaching from the object when grasping it.
收录类别	SCI
原文出处	http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6918529
语种	英语
内容类型	期刊论文
源URL	[http://ir.siat.ac.cn:8080/handle/172644/6666]
专题	深圳先进技术研究院_集成所
作者单位	IEEE-ASME TRANSACTIONS ON MECHATRONICS
推荐引用方式 GB/T 7714	Ting Zhang,Li Jiang,Xinyu Wu,et al. Fingertip Three-Axis Tactile Sensor for Multifingered Grasping[J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS,2015.
APA	Ting Zhang,Li Jiang,Xinyu Wu,Dingjiang Zhou,&Hong Liu.(2015).Fingertip Three-Axis Tactile Sensor for Multifingered Grasping.IEEE-ASME TRANSACTIONS ON MECHATRONICS.
MLA	Ting Zhang,et al."Fingertip Three-Axis Tactile Sensor for Multifingered Grasping".IEEE-ASME TRANSACTIONS ON MECHATRONICS (2015).