Abstract:
The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a sin...Show MoreMetadata
Abstract:
The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a single contact point on the robot is calculated without any sensor array. The mechanism is composed of a cylindrical end-effector surrounding the body and multiple force sensor devices. An external force is transmitted to the sensor device through the end-effector and is measured by the sensor devices. The present paper describes a calculation method for the proposed system. First, the basic concept of the mechanism is introduced using a simple model. Next, some problems and solutions for a multiple supporting haptic mechanism are discussed.
Date of Conference: 21-24 March 2010
Date Added to IEEE Xplore: 13 May 2010
ISBN Information: