抄録
This paper describes a study of the use of ultrasound to measure the grasping force components when an object is grasped by elastic fingers of a robot. 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.
