NDLI: Torque sensing of finger joint using strain-deformation expansion mechanism

Content Provider	IEEE Xplore Digital Library
Author	Yong Yu Ishitsuka, T. Tsujio, S.
Copyright Year	2003
Description	Author affiliation: Dept. of Mech. Eng., Kagoshima Univ., Japan (Yong Yu; Ishitsuka, T.; Tsujio, S.)
Abstract	/sup F/or dexterously performing object grasping and manipulation with multifingered hand of robot, sensing the finger joint torque is required. In general, the size of finger joint is quite small so that it is hard to realize the torque sensing. This paper proposes a novel mechanism, called the strain-deformation expansion mechanism, to sense the joint torque, which is small enough and fitted in the finger joint. By the torque sensing mechanism, the small joint strain-deformation used for torque sensing can be expanded without reducing the joint stiffness. In this paper, the torque sensing principle is addressed by analyzing the deformation of the sensing mechanism and the torques acting on the joint shaft theoretically. Then, the sensitivity of the sensing mechanism and its expansion rate of sensitivity are defined, and a design method for realizing the sensing mechanism with high sensitivity is discussed. Finally, some experiments with robot finger are performed to show the basic characteristics and the effectiveness of the proposed torque sensing mechanism.
Sponsorship	IEEE Robotics & Autom. Soc. Nat. Sci. Council, Taiwan, Ministr. Educ., Taiwan
Starting Page	1850
Ending Page	1856
File Size	469802
Page Count	7
File Format	PDF
ISBN	0780377362
ISSN	10504729
DOI	10.1109/ROBOT.2003.1241864
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-09-14
Publisher Place	Taiwan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Fingers Shafts Robot sensing systems Design methodology Actuators Gears Torque measurement Capacitive sensors Mechanical engineering Grasping
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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