Miniaturized optical-based force sensors for tendon-driven robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2011, Pages 5344-5349

  Palli, G ^a   Pirozzi, S ^b  

^a UNIVERSITY OF BOLOGNA   (Italy)

^b SECOND UNIVERSITY OF NAPLES   (Italy)

Author keywords

Force feedback; Force sensors; Robotic hands; Tendon transmission

Indexed keywords

COMPLIANT FRAMES; FORCE FEEDBACK; FORCE SENSING; FORCE SENSOR; OPTOELECTRONIC COMPONENTS; ROBOTIC JOINT; SIMPLIFIED PROCEDURE; TENDON DRIVEN; TENDON TENSION; TEST-BENCH; WORKING PRINCIPLES;

END EFFECTORS; ROBOTICS; SENSORS;

TENDONS;

EID: 84859511489     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ICRA.2011.5979970     Document Type: Conference Paper

References (25)

1. J. Salisbury and J. Craig, "Articulated hands: Force control and kinematic issues," Int. J. of Robotic Research, vol. 1, no. 1, pp. 4-17, 1982. (Pubitemid 13510801)
2. S. Jacobsen, J. Wood, D. Knutti, and K. Biggers, "The UTAH/M.I.T. dextrous hand: Work in progress," The Int. Journal of Robotic Research, vol. 3, no. 4, pp. 21-50, 1984. (Pubitemid 15512060)
3. L. Biagiotti, F. Lotti, C. Melchiorri, G. Palli, P. Tiezzi, and G. Vassura, "Development of UB Hand 3: Early results," in Proc. IEEE Int. Conf. on Robotics and Automation, 2005.
4. G. Berselli, G. Borghesan, M. Brandi, C. Melchiorri, C. Natale, G. Palli, S. Pirozzi, and G. Vassura, "Integrated mechatronic design for a new generation of robotic hands," in Proc. of the IFAC Symposium on Robot Control, Gifu, Japan, 2009.
5. F. Caccavale, C. Natale, and L. Villani, "Experiments of impedance control on an industrial robot manipulator with joint friction," in Proc. of IEEE International Conference on Control Application, Dearborn, MI, 1996, pp. 205-210.
6. C. Natale, Interaction control of robot manipulators - Six-degrees-of-freedom tasks. Heidelberg, D: Springer-Verlag, 2003.
7. M. Carrozza, G. Cappiello, G. Stellin, F. Zaccone, F. Vecchi, S. Micera, and P. Dario, "On the development of a novel adaptive prosthetic hand with compliant joints: Experimental platform and emg control," in Proc. of 2005 IEEE Int. Conf. Intell. Rob. and Sys, 2005, pp. 1271-1276.
8. H. Liu, J. Butterfass, S. Knoch, P. Meusel, and G. Hirzinger, "New control strategy for DLR's multisensory articulated hand," IEEE Control Systems Magazine, vol. 19, no. 2, pp. 47-54, 1999.
9. X. Gao, M. Jin, L. Jiang, Z. Xie, P. He, L. Yang, Y. Liu, R. Wei, H. Cai, H. Liu, J. Butterfaß, M. Grebenstein, N. Seitz, and G. Hirzinger, "The hit/dlr dexterous hand: Work in progress," in Proc. of IEEE Int. Conf. on Rob. and Aut., Taipei, Taiwan, 2003, pp. 3164-3168.
10. G. Palli, G. Borghesan, and C. Melchiorri, "Friction and viscoelasticity effects in tendon-based transmission systems," in Proc. IEEE Int. Conf. on Robotics and Automation, may. 2010, pp. 3890 -3895.
11. T. Wimbock, C. Ott, A. Albu-Schaffer, A. Kugi, and G. Hirzinger, "Impedance control for variable stiffness mechanisms with nonlinear joint coupling," in Proc. of the IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Nice, France, Sept. 22-26 2008, pp. 3796 - 3803.
12. M. Frecker and A. J. Snyder, "Surgical robotics: Multifunctional end effectors for robotic surgery," Operative Techniques in General Surgery, vol. 7, no. 4, pp. 165 - 169, 2005.
13. N. Simaan, K. Xu, W. Wei, A. Kapoor, P. Kazanzides, R. Taylor, and P. Flint, "Design and integration of a telerobotic system for minimally invasive surgery of the throat," International Journal of Robotics Research, vol. 28, no. 9, pp. 1134-1153, 2009.
14. S. Marcheschi, A. Frisoli, C. Avizzano, and M. Bergamasco, "A method for modeling and control complex tendon transmissions in haptic interfaces," in Proc. IEEE Int. Conf. on Robotics and Automation, April 2005.
15. C. Melchiorri and G. Vassura, "Mechanical and control features of the UB Hand version II," in Proc. IEEE/RSJ Int.Confon Intelligent Robots and Systems, IROS'92, 1992.
16. A. Nahvi, J. M. Hollerbach, Y Xu, and I. W. Hunter, "Investigation of the transmission system of a tendon driven robot hand," in IEEE Int. Conf. on Intelligent Robots and Systems, 1994, pp. 202 - 208.
17. "DEXMART Project website," http://www.dexmart.eu/.
18. M. Kaneko, K. Yokoi, and K. Tanie, "On a new torque sensor for tendon drive fingers," IEEE Tran, on Robotics and Autom., vol. 6, no. 4, pp. 501-507, 1990.
19. C. Natale and S. Pirozzi, "Minimally invasive torque sensor for tendondriven robotic hands," sep. 2008, pp. 65 -70.
20. A. Cavallo, G. D. Maria, C. Natale, and S. Pirozzi, "Optoelectronic joint angular sensor for robotic fingers," Sensors and Actuators A: Physical, vol. 152, no. 2, pp. 203 - 210, 2009.
21. S. Kasap, Optoelectronics and Photonics: Principles and Practices. Englewood Cliffs, NJ: Prentice Hall, 2001.
22. G. Berselli, R. Vertechy, G. Vassura, and V. P. Castelli, "Design of a single-acting constant-force actuator based on dielectric elastomers," Journal of Mechanisms and Robotics, vol. 1, no. 3, p. 031007, 2009.
23. G. Palli, G. Berselli, C. Melchiorri, and G. Vassura, "Design and modeling of variable stiffness joints based on compliant flexures," in Proc. of the ASME 2010 Int. Design Engineering Technical Conf, Montreal, Canada, 2010.
24. H. Du, G. K. Lau, M. K. Lim, and J. Qui, "Topological optimization of mechanical amplifiers for piezoelectric actuators under dynamic motion," Smart Materials and Structures, vol. 9, no. 6, pp. 788-800, 2000. (Pubitemid 32086153)
25. Y Li, K. Saitou, and N. Kikuchi, "Topology optimization of thermally actuated compliant mechanisms considering time-transient effect," Finite Elem. Anal. Des., vol. 40, no. 11, pp. 1317-1331, 2004.