A Potential 4-D Fingertip Force Sensor for an Underwater Robot Manipulator

The latest generation of underwater robots employ manipulators without force sensors. Accordingly, this paper presents a novel 4-D fingertip force sensor based on an E-type membrane for underwater robot manipulators. Specifically, this sensor is aimed at obtaining the accurate interaction force betw...

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Bibliographic Details
Published inIEEE journal of oceanic engineering Vol. 35; no. 3; pp. 574 - 583
Main Authors Liang, Qiaokang, Zhang, Dan, Song, Quanjun, Ge, Yunjian
Format Journal Article
LanguageEnglish
Published New York IEEE 01.07.2010
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
4-D
Assembly
Biomembranes
Fingers
Force sensors
Force/torque sensor
Joining
Linearity
Machine intelligence
Manipulators
Marine
Mechanical sensors
Membranes
overload protection
Remotely operated vehicles
Robot arms
Robot sensing systems
Seals
Sensors
underwater robot
Underwater robots
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Summary:The latest generation of underwater robots employ manipulators without force sensors. Accordingly, this paper presents a novel 4-D fingertip force sensor based on an E-type membrane for underwater robot manipulators. Specifically, this sensor is aimed at obtaining the accurate interaction force between underwater robot manipulators and other objects. Moreover, a seal technique and natural pressure compensation for the sensor are also described. The experimental results demonstrate strong linearity, high sensitivity, and weak couplings.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
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ISSN:0364-9059
1558-1691
DOI:10.1109/JOE.2010.2050362