The Community for Technology Leaders
RSS Icon
Subscribe
Issue No.01 - January-March (2010 vol.3)
pp: 37-47
Katsunari Sato , The University of Tokyo, Tokyo
Kazuto Kamiyama , The University of Electro Communications, Tokyo
Naoki Kawakami , The University of Tokyo, Tokyo
Susumu Tachi , Keio University, Yokohama City
ABSTRACT
It is believed that the use of haptic sensors to measure the magnitude, direction, and distribution of a force will enable a robotic hand to perform dexterous operations. Therefore, we develop a new type of finger-shaped haptic sensor using GelForce technology. GelForce is a vision-based sensor that can be used to measure the distribution of force vectors, or surface traction fields. The simple structure of the GelForce enables us to develop a compact finger-shaped GelForce for the robotic hand. GelForce that is developed on the basis of an elastic theory can be used to calculate surface traction fields using a conversion equation. However, this conversion equation cannot be analytically solved when the elastic body of the sensor has a complicated shape such as the shape of a finger. Therefore, we propose an observational method and construct a prototype of the finger-shaped GelForce. By using this prototype, we evaluate the basic performance of the finger-shaped GelForce. Then, we conduct a field test by performing grasping operations using a robotic hand. The results of this test show that using the observational method, the finger-shaped GelForce can be successfully used in a robotic hand.
INDEX TERMS
Force sensor, surface traction field, finger shape, robotic hand.
CITATION
Katsunari Sato, Kazuto Kamiyama, Naoki Kawakami, Susumu Tachi, "Finger-Shaped GelForce: Sensor for Measuring Surface Traction Fields for Robotic Hand", IEEE Transactions on Haptics, vol.3, no. 1, pp. 37-47, January-March 2010, doi:10.1109/TOH.2009.47
REFERENCES
[1] H.R. Nicholls and M.H. Lee, "A Survey of Robot Tactile Sensing Technology," Int'l J. Robotics Research, vol. 8, pp. 3-30, 1989.
[2] M.H. Lee and H.R. Nicholls, "Tactile Sensing for Mechatronics—A State of the Art Survey," Mechatronics, vol. 9, pp. 1-31, 1999.
[3] R.S. Johansson, A.B. Vallbo, and G. Westling, "Theresholds of Mechanosensitive Afferents in the Human Hand as Measured with von Frey Hairs," Brain Research, vol. 184, pp. 343-351, 1980.
[4] F. Bega-Bermudez and K.O. Johnson, "Differences in Spatial Acuity between Digits," Neurology, vol. 56, pp. 1389-1391, 2001.
[5] R.T. Verrillo, "Effect of Contactor Area on Vibrotactile Threshold," J. Acoustical Soc. of Am., vol. 35, pp. 1962-1966, 1963.
[6] R.S. Fearing, "Using a Cylindrical Tactile Sensor for Determining Curvature," IEEE Trans. Robotics and Automation, vol. 7, no. 6, pp. 806-817, Dec. 1991.
[7] J.G. Silva, A.A. Carvalho, and D.D. Silva, "A Strain Gauge Tactile Sensor for Finger-Mounted Applications," IEEE Trans. Instrumentation and Measurement, vol. 51, no. 1, pp. 18-22, Feb. 1991.
[8] D.T. Pawluk, J.S. Son, P.S. Wellman, W.J. Peine, and R.D. Howe, "A Distributed Pressure Sensor for Biomechanical Measurements," J. Biomechanical Eng., vol. 120, no. 2, pp. 302-305, 1998.
[9] M. Ohoka, Y. Mituya, K. Hattori, and I. Higashioka, "Data Conversion Capability of Optical Tactile Sensor Featuring an Array of Pyramidal Projections," Proc. IEEE Int'l Conf. Multisensor Fusion and Integration for Intelligent Systems, pp. 573-580, 1996.
[10] N.J. Ferrier and R.W. Brockett, "Reconstructing the Shape of a Deformable Membrane from ImageData," The Int'l J. Robotics Research, vol. 19, no. 9, pp. 795-816, 2000.
[11] S. Saga, H. Kajimoto, and S. Tachi, "High-Resolution Tactile Sensor Using the Deformation of a Reflection Image," Sensor Rev., vol. 27, pp. 35-42, 2006.
[12] K. Kamiyama, K. Vlack, T. Mizota, H. Kajimoto, N. Kawakami, and S. Tachi, "Vision-Based Sensor for Real-Time Measuring of Surface Traction Fields," IEEE Computer Graphics and Applications Magazine, vol. 25, no. 1, pp. 68-7, Jan. 2005.
[13] W. Menke, Geophysical Data Analysis: Discrete Inverse Theory. Academic Press Inc., 1989.
[14] L.D. Landau and E.M. Lifshitz, Theory of Elasticity. Butterworth Heinemann, 1985.
[15] K. Hoshino and Y. Kawabuchi, "Pinching at Finger Tips for Humanoid Robot Hand," J. Robotics and Mechatronics, vol. 17, no. 6, pp. 655-663, 2005.
14 ms
(Ver 2.0)

Marketing Automation Platform Marketing Automation Tool