Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Development of Force Sensors for the Fingers of an Intelligent Robot's Hand

지능형 로봇손을 위한 손가락 힘센서 개발

  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
  • 김갑순 (경상대학교 제어계측공학과)
  • Received : 2014.02.03
  • Accepted : 2014.03.13
  • Published : 2014.03.31
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Abstract

This paper describes a design and manufacture of a two-axis force sensor and a single-axis force sensor for the fingers of an intelligent robot's hand. The robot's finger is composed of a two-axis force sensor, a first knuckle, a single-axis force sensor, a second knuckle, a spring, a motor of first knuckle, a motor of second knuckle, and so on. The two-axis force sensor attached to the first knuckle and the single-axis force sensor attached to the second knuckle were designed and manufactured, and the characteristics test of two sensors was carried out. As a test results, the interference error of the two-axis force sensor was less than 0.68%, the repeatability error of each sensor was less than 0.02%, and then the non-linearity was less than 0.03%. It is thought that the sensors can be used for the fingers of the intelligent robot's hand for rehabilitation exercise of finger patients.

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References

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