Host: The Japan Society of Mechanical Engineers
Name : [in Japanese]
Date : June 02, 2018 - June 05, 2018
This paper discusses force sensing that measures a force applied to the tip of a wire-driven multi-degree-of-freedom forceps with tension measurement of the wires. The wire is beat and vibrated to generate sound. The tension of the wire can be calculated from the sound frequency by using the vibration theory of strings. Measurement of multiple axis forces is also possible with only one microphone. We develop a forceps that integrates a beating mechanism and experimentally confirm the change of the sound frequency as the change of the wire tension.
