551 Structure Optimization of Tri-Axial Force Sensor for Robot Fingers

Abstract

Recently, robot research that coexists with people and is helpful for them is active. To perform high manipulation as human by robot hand, it is necessary for us to obtain distributional information of tri-axial force acting on finger-tip. In a past study, we suggested original structure of tri-axial force sensor which can be mounted on robot finger-tip plurally. In this article, we suggest an optimization method of the structure of that sensor, and inspect the effectiveness of proposed method by simulation.