Moment detection by integrated tactile sensors for partner robot applications. Issue 2 (13th December 2020)

• Record Type: Journal Article
• Authors: Fujiyoshi, Motohiro; Hata, Yoshiyuki; Mima, Kazuhiro; Hirano, Hideki; Muroyama, Masanori; Tanaka, Shuji; Nakayama, Takahiro
• Is Part Of: Electrical engineering in Japan. Volume 214:Issue 2(2021)
• Page Start: n/a
• Page End: n/a
• Publication Date: 2020-12-13
• Subjects: 3‐axis force detection -- integrated tactile sensor -- moment detection -- shearing force -- tactile sensor network; Electrical engineering -- Periodicals; 621.30952
• DOI: 10.1002/eej.23307
• Languages: English
• ISSNs: 0424-7760

Abstract

Abstract: This paper reports on moment detection by three integrated tactile sensors that detect 3‐axis forces. In this study, the three integrated tactile sensors were connected along a serial bus and were mounted in a triangle shape on a circuit board. Out‐of‐plane moment applied on the circuit board was measured using the shearing forces and a geometric relationship of the triangle sensor allay. The principle of the proposed moment detection method was demonstrated. The experimental results showed that the sensitivity and the nonlinearity were 1.10 count/N·m and ±16% full scale, respectively. The resolution of the obtained moment was below 0.015 N∙m. The moment detection ability enables the partner robots to grasp objects correctly and to interact softly with human.