A distributing and decoupling method of microminiature multi-dimension robot finger force sensor

Xiaohong Deng; Wei Chao Yang; Huanghuan Shen; Yong Yu; Yunjian Ge; Jian Sun

doi:10.1109/ROBIO.2007.4522389

A distributing and decoupling method of microminiature multi-dimension robot finger force sensor

Xiaohong Deng^*, Wei Chao Yang, Huanghuan Shen, Yong Yu, Yunjian Ge, Jian Sun

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Citation (Scopus)

Abstract

In order to acquire the interaction force between fingers of robot and the grasped object more accurately, this paper develops a kind of novel multi-dimension finger force sensor used in robots. This sensor uses double E-type diaphragm structure, according to the characteristic of force bearing and different bridge connection modes, it solves contradiction between the microminiatured of the multi-dimension finger force sensor and elastic body structure design, stain gauge arrangement, bridge connection modes. Experiments are conducted with the developed multi-dimension finger force sensor, and the results show this sensor has simple structure, good linearity, low coupling between dimensions and easy calibration characteristics.

Original language	English
Title of host publication	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Publisher	IEEE Computer Society
Pages	1517-1522
Number of pages	6
ISBN (Print)	9781424417582
DOIs	https://doi.org/10.1109/ROBIO.2007.4522389
Publication status	Published - 2007
Externally published	Yes
Event	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO - Yalong Bay, Sanya, China Duration: 15 Dec 2007 → 18 Dec 2007

Publication series

Name	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

Conference

Conference	2007 IEEE International Conference on Robotics and Biomimetics, ROBIO
Country/Territory	China
City	Yalong Bay, Sanya
Period	15/12/07 → 18/12/07

Keywords

Decoupling
Elastic body
Finger force sensor

Access to Document

10.1109/ROBIO.2007.4522389

Cite this

Deng, X., Yang, W. C., Shen, H., Yu, Y., Ge, Y., & Sun, J. (2007). A distributing and decoupling method of microminiature multi-dimension robot finger force sensor. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO (pp. 1517-1522). Article 4522389 (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO). IEEE Computer Society. https://doi.org/10.1109/ROBIO.2007.4522389

@inproceedings{ceeb0a3730a24319b123c7b4a54843f7,

title = "A distributing and decoupling method of microminiature multi-dimension robot finger force sensor",

abstract = "In order to acquire the interaction force between fingers of robot and the grasped object more accurately, this paper develops a kind of novel multi-dimension finger force sensor used in robots. This sensor uses double E-type diaphragm structure, according to the characteristic of force bearing and different bridge connection modes, it solves contradiction between the microminiatured of the multi-dimension finger force sensor and elastic body structure design, stain gauge arrangement, bridge connection modes. Experiments are conducted with the developed multi-dimension finger force sensor, and the results show this sensor has simple structure, good linearity, low coupling between dimensions and easy calibration characteristics.",

keywords = "Decoupling, Elastic body, Finger force sensor",

author = "Xiaohong Deng and Yang, {Wei Chao} and Huanghuan Shen and Yong Yu and Yunjian Ge and Jian Sun",

year = "2007",

doi = "10.1109/ROBIO.2007.4522389",

language = "English",

isbn = "9781424417582",

series = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",

publisher = "IEEE Computer Society",

pages = "1517--1522",

booktitle = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO",

address = "United States",

note = "2007 IEEE International Conference on Robotics and Biomimetics, ROBIO ; Conference date: 15-12-2007 Through 18-12-2007",

}

Deng, X, Yang, WC, Shen, H, Yu, Y, Ge, Y & Sun, J 2007, A distributing and decoupling method of microminiature multi-dimension robot finger force sensor. in 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO., 4522389, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, IEEE Computer Society, pp. 1517-1522, 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO, Yalong Bay, Sanya, China, 15/12/07. https://doi.org/10.1109/ROBIO.2007.4522389

A distributing and decoupling method of microminiature multi-dimension robot finger force sensor. / Deng, Xiaohong; Yang, Wei Chao; Shen, Huanghuan et al.
2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE Computer Society, 2007. p. 1517-1522 4522389 (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

T1 - A distributing and decoupling method of microminiature multi-dimension robot finger force sensor

AU - Deng, Xiaohong

AU - Yang, Wei Chao

AU - Shen, Huanghuan

AU - Yu, Yong

AU - Ge, Yunjian

AU - Sun, Jian

PY - 2007

Y1 - 2007

N2 - In order to acquire the interaction force between fingers of robot and the grasped object more accurately, this paper develops a kind of novel multi-dimension finger force sensor used in robots. This sensor uses double E-type diaphragm structure, according to the characteristic of force bearing and different bridge connection modes, it solves contradiction between the microminiatured of the multi-dimension finger force sensor and elastic body structure design, stain gauge arrangement, bridge connection modes. Experiments are conducted with the developed multi-dimension finger force sensor, and the results show this sensor has simple structure, good linearity, low coupling between dimensions and easy calibration characteristics.

AB - In order to acquire the interaction force between fingers of robot and the grasped object more accurately, this paper develops a kind of novel multi-dimension finger force sensor used in robots. This sensor uses double E-type diaphragm structure, according to the characteristic of force bearing and different bridge connection modes, it solves contradiction between the microminiatured of the multi-dimension finger force sensor and elastic body structure design, stain gauge arrangement, bridge connection modes. Experiments are conducted with the developed multi-dimension finger force sensor, and the results show this sensor has simple structure, good linearity, low coupling between dimensions and easy calibration characteristics.

KW - Decoupling

KW - Elastic body

KW - Finger force sensor

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DO - 10.1109/ROBIO.2007.4522389

M3 - Conference contribution

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SN - 9781424417582

T3 - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

SP - 1517

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BT - 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO

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Deng X, Yang WC, Shen H, Yu Y, Ge Y, Sun J. A distributing and decoupling method of microminiature multi-dimension robot finger force sensor. In 2007 IEEE International Conference on Robotics and Biomimetics, ROBIO. IEEE Computer Society. 2007. p. 1517-1522. 4522389. (2007 IEEE International Conference on Robotics and Biomimetics, ROBIO). doi: 10.1109/ROBIO.2007.4522389

A distributing and decoupling method of microminiature multi-dimension robot finger force sensor

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