Active sensing using soft handing miniature gripper : identification of grasped object
Journal of the Japan Society of Applied Electromagnetics Volume 6 Issue 1
Page 36-43
published_at 1998-03
Title
小型ソフトハンドリンググリッパを用いたアクティブセンシングの研究 : 把持対象物の計測同定
Active sensing using soft handing miniature gripper : identification of grasped object
Creators
Kim Young Chul
Creators
Chonan Seiji
Creators
Tanaka Mami
Creators
Hirose Taichi
Creator Keywords
active sensing
soft handling gripper
measurement of stiffiness
PVDF actuator
identification
This pager is concerned with the active sensing using a two-fingered miniature gripper driven by a piezoceramic stack. A linkage that transforms the actuator longitudinal dilation into the lateral fingertip motion is designed. A strain gauge is placed at the bottom of a flexible finger for sensing the stiffiness of an object grasped at the tip of the finger's. A mathematical model of the system is developed and applied to the study of the active sensing where the gripper is driven to grasp the object with a time step response.
Languages
jpn
Resource Type
journal article
Publishers
日本AEM学会
Date Issued
1998-03
File Version
Version of Record
Access Rights
open access
Relations
[ISSN]0919-4452
[NCID]AN10457520
[isVersionOf]
[URI]http://wwwsoc.nii.ac.jp/jsaem/html/journal-j.html
Schools
大学院理工学研究科（工学）