2017
Output Characterization of Proximity and Tactile Combination MEMS Sensor for Gripping Control of Flexible Object
The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
- ,
- ,
- ,
- ,
- Volume
- 2017
- Number
- First page
- 1A1
- Last page
- N02
- Language
- Japanese
- Publishing type
- DOI
- 10.1299/jsmermd.2017.1A1-N02
- Publisher
- The Japan Society of Mechanical Engineers
<p>In this Paper, we report output characterization of the proximity and tactile combination MEMS sensor for controlling manipulation of flexible objects. This sensor can detect proximity by the internal photoelectric effect in Si substrate and normal and shear loads as tactile information are detectable by deflection of cantilevers, which are fabricated on the substrate surface and embedded in the silicone elastomer. The proximity and tactile outputs from this sensor attached on the electromotive actuator depend on distance to the target object and normal load applied by gripping the object, respectively. Furthermore, sensor output with shear load applied by weight of gripped flexible object is measured and the improved control method for stable gripping control of flexible objects is discussed.</p>
- Link information
- ID information
-
- DOI : 10.1299/jsmermd.2017.1A1-N02
- CiNii Articles ID : 130006220293