Estimation of Surface Properties Using A New Robotic Finger

We present simultaneous estimating the position and the mechanical impedance of unknown surfaces using a new robotic finger. Successfully treating such a simultaneous sensing device will contribute to reducing the inspection time required for industrial products, and could also be useful for detecti...

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Bibliographic Details
Main Authors: Ioi, K., Maeda, H., Sato, R.
Format: Conference Proceeding
Language:English
Subjects:
Design engineering
Fingers
Force control
Force sensors
Mechanical factors
Resonance
Robot sensing systems
Service robots
Surface treatment
Vibrations
Online Access:Request full text
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Summary:We present simultaneous estimating the position and the mechanical impedance of unknown surfaces using a new robotic finger. Successfully treating such a simultaneous sensing device will contribute to reducing the inspection time required for industrial products, and could also be useful for detecting unknown surfaces such as in disaster zones. We propose a new robotic finger that is equipped with a force sensor and a resonant mechanical element on its fingertip. The force sensor is used as a surface detector to sense the reaction force from unknown surfaces, and the resonant mechanical part acts as a scaling amplifier to estimate the mechanical impedance of unknown surfaces. We verify the usefulness of our robotic finger by experiments.
DOI:10.1109/ROBIO.2006.340303