磁気式3軸触覚センサを搭載したロボットフィンガの開発

―磁気式3軸触覚センサの検証―

抄録

In recent years, robotic devices equipped with robot hands are being put into practical use in various fields.

A sensor which is one of the elements constituting such a robot hand is very important in order to realize a stable operation. Even in the teleoperation system, the robot hand that can acquire more information makes it easier to perform an intuitive operation as if we are moving our hand. In this paper, we propose a triaxial magnetic tactile sensor using a Hall element and magnet which can detect the magnitude and direction of force applied to the contact surface mounted on the robot finger manufactured as a part of the development of robot hand for teleoperation.