{"title":"A simplified whole-body haptic sensing system with multiple supporting points","authors":"Ryosuke Hanyu, T. Tsuji, S. Abe","doi":"10.1109/AMC.2010.5464045","DOIUrl":null,"url":null,"abstract":"The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a single contact point on the robot is calculated without any sensor array. The mechanism is composed of a cylindrical end-effector surrounding the body and multiple force sensor devices. An external force is transmitted to the sensor device through the end-effector and is measured by the sensor devices. The present paper describes a calculation method for the proposed system. First, the basic concept of the mechanism is introduced using a simple model. Next, some problems and solutions for a multiple supporting haptic mechanism are discussed.","PeriodicalId":406900,"journal":{"name":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","volume":"120 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2010-03-21","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"9","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2010 11th IEEE International Workshop on Advanced Motion Control (AMC)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/AMC.2010.5464045","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 9
Abstract
The present paper proposes a whole-body haptic sensing system with multiple supporting points for a body and sensor mechanism. Using this mechanism, the position of a single contact point on the robot is calculated without any sensor array. The mechanism is composed of a cylindrical end-effector surrounding the body and multiple force sensor devices. An external force is transmitted to the sensor device through the end-effector and is measured by the sensor devices. The present paper describes a calculation method for the proposed system. First, the basic concept of the mechanism is introduced using a simple model. Next, some problems and solutions for a multiple supporting haptic mechanism are discussed.
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