Contact Point Sensing by Force Sensor with Noise on Force/Moment Signals
نویسندگان
چکیده
منابع مشابه
Contact Sensing from Force Measurements
This paper addresses contact sensing, i.e. the problem of resolving the location of a contact, the force at the interface and the moment about the contact normals is presented. Called \intrinsic" contact sensing for the use of internal force and torque measurements, this method allows for practical devices which provide simple, relevant contact information in practical robotic applications. Suc...
متن کاملDesign and Construction of a Novel Tactile Sensor for Measuring Contact-Force, Based on Piezoelectric Effect
In this paper, design and construction of a tactile sensor for measuring contact-force is presented. Mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. By considering a specific point in the circuit and recording the changes of its voltage, ma...
متن کاملEstimating Point of Contact , Force and Torque in a Biomimetic Tactile Sensor with Deformable Skin
The human fingertip is exquisitely sensitive to touch. Tactile information sensed by the mechanoreceptors of the fingertip make it possible to deduce information such as the location of contact and the normal forces, shear forces and torques being applied to the skin. Humans use this information to grasp and handle objects with great dexterity. Robotic systems seeking to obtain similar performa...
متن کاملDesign, Modeling, and Construction of a New Tactile Sensor for Measuring Contact-Force
This paper presents the design, modeling, and testing of a flexible tactile sensor and its applications. This sensor is made of polymer materials and can detect the 2D surface texture image and contact-force estimation. The sensing mechanism is based on the novel contact deflection effect of a membrane. We measure the deflection of the membrane with measuring the strain in the membrane with emb...
متن کاملdesign and construction of a novel tactile sensor for measuring contact-force, based on piezoelectric effect
in this paper, design and construction of a tactile sensor for measuring contact-force is presented. mechanism of measuring contact-force in this tactile sensor is based on impedance changing of piezoelectric crystal and voltage of different points in circuit as a result of applying force on the crystal. by considering a specific point in the circuit and recording the changes of its voltage, ma...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2009
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.27.1160