2004 Volume 47 Issue 1 Pages 175-179
This paper describes a study on the usage of ultrasound to measure the grasping force components when elastic fingers of a robot grasp an object. The ultrasonic sensor embedded in the soft finger accurately measures the echoes timing lag and amplitude that give information about the amount and directions of the grasping force components. The experimental results indicate good sensitivity of the proposed soft finger to both normal and tangential components of the grasping force.
JSME international journal. Ser. 1, Solid mechanics, strength of materials
JSME international journal. Ser. A, Mechanics and material engineering
JSME international journal. Ser. 3, Vibration, control engineering, engineering for industry
JSME international journal. Ser. C, Dynamics, control, robotics, design and manufacturing
JSME International Journal Series A Solid Mechanics and Material Engineering
JSME International Journal Series B Fluids and Thermal Engineering