KR20170017580A - The method of decompostioning contact force and the haptic apparatus thereof - Google Patents

The method of decompostioning contact force and the haptic apparatus thereof Download PDF

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KR20170017580A
KR20170017580A KR1020150111722A KR20150111722A KR20170017580A KR 20170017580 A KR20170017580 A KR 20170017580A KR 1020150111722 A KR1020150111722 A KR 1020150111722A KR 20150111722 A KR20150111722 A KR 20150111722A KR 20170017580 A KR20170017580 A KR 20170017580A
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force
contact
external force
normal
pressure
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KR101726733B1 (en
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정완균
김형균
최승문
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포항공과대학교 산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
    • G01L5/16—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes for measuring several components of force
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
    • G06F17/10—Complex mathematical operations
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
    • G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
    • G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user

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  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The present invention relates to a method to decompose a contact force when an external force applying part delivers an external force to an object. The method comprises: a contact pressure measuring step of measuring contact pressure applied to a contact surface between the object and the external force applying part; a contact force measuring step of measuring contact force applied by the object to the external force applying part; a step of determining a vertical force, which is normal direction force of the contact surface, from the contact pressure; and a step of calculating shearing force, which is a plane direction force of the contact surface, based on the vertical force and the contact force. According to the present invention, the contact force decomposing method and the haptic device therewith are capable of measuring a more accurate force by determining the vertical force and shearing force by measuring contact pressure from a contact surface. Moreover, the present invention is capable of more accurately forming augmented reality and being applied to a complex shape, enabling expansion to a system which manages a plurality of systems by enabling measurement in a plurality of spots.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a haptic device,

The present invention relates to a method of disassembling a contact force and a haptic device using the same and more particularly to a method of disassembling a contact force between a finger or an end effector contacting an object with a normal force and a shear force, Lt; / RTI >

Haptic Augmented Reality is a technology that changes the feel of a real object that a user feels by using a haptic device. There are stiffness, texture, weight, and friction in the texture of objects that can be converted into haptic Augmented Reality.

In order to change the stiffness, it is necessary to know both the deformation and the contact force of the point where the current contact occurs, and such deformation is indirectly estimated through the contact force because it is difficult to directly measure it unless it is a well-controlled environment. A related haptic device is disclosed in Korean Patent No. 1021595.

On the other hand, all objects are deformed in the vertical direction and the shear direction, and are affected by different physical properties such as Young's modulus and shear modulus. In addition, even in the case of contact at the same point, the normal force and the shearing force should be measured at the contact point, because the direction of the vertical force and the shearing force may vary depending on the boundary condition given to the object and external force generated at other contact points.

However, the existing haptic device can only measure the resultant force due to the repulsive force of the object, so that when the object is deformed, it is difficult to measure it and it can not be disassembled correctly, so that the force is inaccurate.

Korean Patent No. 1021595

The present invention relates to a method of resolving a contact force which resolves a problem that an inaccurate reaction force is measured because a normal force and a shearing force can not be measured according to a shape changed by an external force at a contact surface with an object in a conventional haptic device and a haptic device It has its purpose.

According to the present invention, there is provided a method of resolving a contact force when an external force is transmitted to a target object, the contact force acting on a contact surface between the target object and the external force acting portion A contact force measuring step, a contact force measuring step of measuring a contact force acting on the external force acting part by the target object, a step of determining a normal force which is a normal direction force of the contact surface from the contact pressure, A method of disassembling a contact force comprising calculating a shear force that is force is provided.

Wherein determining the normal force determines a normal force vector including components for at least two directions of the Cartesian coordinate system and calculating the shear force may be configured to calculate a shear force vector for at least two directions corresponding to the normal force vector .

Further, in the contact pressure measurement step, the contact pressure can be measured by the sensor portion provided on the contact surface of the external force acting portion or the contact surface of the target object.

Further, the sensor unit is configured to include a plurality of sensors so as to measure the pressure at the plurality of contact points, and the step of measuring the contact pressure and the step of determining the normal force are configured to measure and determine the contact pressure and the normal force, respectively, .

On the other hand, the step of determining the normal force can be determined by the sum of the respective vertical forces measured from the plurality of sensors, and the vertical force can be determined based on the geometric information in which the sensor unit is disposed.

The external force acting portion may include an operating portion configured to allow a user to perform an operation, or a wearing portion configured to be able to be operated by a wearer.

A sensor unit configured to measure a contact pressure acting on the contact surface and a contact force acting on the external force acting portion when the object and the external force acting unit are in contact with each other according to the present invention, And a calculation unit for calculating a shear force, which is a force in a plane direction of the contact surface, based on a normal force and a normal force, which are normal forces of the contact surface from the contact pressure and a contact force, and a haptic device.

Here, the sensor unit may be configured to include a pressure sensor for measuring a contact pressure of the external force acting portion and a force sensor configured to measure a contact force acting by the target object.

And the pressure sensor may be provided on the outer surface of the external force acting portion.

Further, the external force applying portion includes a wear portion configured to be wearable on the finger, and the pressure sensor can be disposed on the external surface of the wear portion.

The haptic device further includes a position sensor configured to measure a rotation angle of the external force acting portion, and the operation portion is configured to correct the normal or tangential direction of the contact surface in accordance with the rotation of the external force acting portion .

Further, the pressure sensor may be constituted by a plurality of tactile sensors so that the contact pressure can be measured at a plurality of points on the outer surface of the wearer, respectively.

On the other hand, the calculation unit may be configured to calculate the vertical force using the geometric information according to the arrangement positions of the plurality of sensors disposed on the wearer's foot, and to calculate the shear force by summing the respective vertical forces.

And the external force acting portion may be configured as an end effector of the robot.

Since the method of disassembling the contact force according to the present invention and the haptic device using the same can determine the normal force and shear force by measuring the contact pressure at the contact surface, it is possible to accurately estimate the deformation of the object, There is an effect that can be implemented.

In addition, since it is possible to measure at a plurality of points, it can be expanded to a haptic augmented reality system that handles a plurality of contact points, and is applicable to complex shapes.

1 is a conceptual diagram of a method for disassembling a contact force according to the present invention.
Figure 2 is a flow chart of a method of disassembling contact forces.
3 is a diagram showing a concept of a step of determining a normal force.
Fig. 4 is a simulation result of applying the method of disassembling contact force.
5 is a graph showing contact forces and friction coefficients measured during the simulation of Fig.
6 is a view showing another embodiment of a method for disassembling the contact force according to the present invention.
7 is a perspective view of a haptic device to which a method of disassembling a contact force according to the present invention is applied.

Hereinafter, a method of disassembling a contact force according to an embodiment of the present invention and a haptic device using the same will be described in detail with reference to the accompanying drawings. In the following description of the embodiments, the names of the respective components may be referred to as other names in the art. However, if there is a functional similarity and an equivalence thereof, the modified structure can be regarded as an equivalent structure. In addition, reference numerals added to respective components are described for convenience of explanation. However, the contents of the drawings in the drawings in which these symbols are described do not limit the respective components to the ranges within the drawings. Likewise, even if the embodiment in which the structure on the drawing is partially modified is employed, it can be regarded as an equivalent structure if there is functional similarity and uniformity. Further, in view of the level of ordinary skill in the art, if it is recognized as a component to be included, a description thereof will be omitted.

1 is a conceptual diagram of a method for disassembling a contact force according to the present invention. Fig. 1 shows a state in which the external force acting portion 20 comes into contact with the elastic target object m and is deformed.

As shown in the drawing, a method of disassembling the contact force according to the present invention provides a method of disassembling the contact force into a normal force Fd and a horizontal force component. At this time, the normal force Fd, which is the force in the normal direction of the contact surface, is calculated from the contact pressure p measured from the pressure sensor 31 and the difference between the resultant force F acting on the external force acting portion 20 and the normal force Fd The shearing force Ff in a direction parallel to the contact surface A is calculated.

In application to a haptic augmented reality, a reaction force is generated and deformed when an external force acts on the target object m. At this time, it is possible to accurately estimate the deformation of the target object m by decomposing the force by the shearing force and the normal force at the contact surface on which the external force acts. Therefore, it is possible to accurately implement the stiffness of the object in the haptic augmented reality, and the reality is maximized for the user.

Figure 2 is a flow chart of a method of disassembling contact forces.

As shown in the figure, the method of disassembling the contact force includes a contact pressure measuring step S100, a contact force measuring step S200, a normal force determining step S300, and a shear force calculating step S400 .

The contact pressure measuring step S100 is a step of measuring the contact pressure p acting on the contact surface A between the target object m and the external force applying portion 20. [ The target object m has elasticity and is an object to be contacted and the external force acting portion 20 means means for contacting the target object m such as the end effector 22. The object m is a member A glove that can be worn by the user, and the like. In the contact pressure measuring step S100, the contact pressure p can be measured by the pressure sensor 31 provided on the outer surface of the external force acting portion 20. [ The position of the pressure sensor 31 is just an example. The position of the pressure sensor 31 is an example in which the external force acting portion 20 and the target object m, or the portion between the external force acting portion 20 and the target object m, Lt; RTI ID = 0.0 > a < / RTI >

The contact force measuring step S200 is a step of measuring a force applied to the external force applying portion 20 by the target object m when the external force applying portion 20 makes contact with the target object m. The contact force F can be measured by the force sensor 32 provided on the external force acting portion 20 side.

The step of determining the vertical force S300 calculates the normal force Fd which is the normal force of the contact surface A from the contact pressure p measured from the pressure sensor 31. [ At this time, the direction of the contact surface A is changed according to the deformation of the target object m in contact with the external force application portion 20, and the vertical force Fd along the changed direction is determined. The magnitude of the normal force Fd can be obtained by using the relationship between the contact pressure and the contact area of the pressure sensor 31 and the direction of the normal force Fd coincides with the normal direction of the contact surface of the pressure sensor 31. [

The step S400 of calculating the shear force is a step of calculating the shear force Ff by the difference between the normal force Fd calculated in the step S300 of determining the contact force F and the normal force Fd measured in the contact force measuring step S200, . The shearing force Ff is a force in a direction parallel to the contact surface A and refers to a force in a direction orthogonal to the normal force Fd. Further, the shearing force Ff can be a frictional force when the target object m is deformed by the contact.

3 is a diagram showing a concept of a step S300 of determining a normal force Fd.

As shown in the figure, the target object m in contact with the external force application portion 20 is deformed downward, and a method of disassembling the contact force is shown.

In the contact pressure measuring step S100, the contact pressure p acting on the minute contact surface dA is measured. In step S300 of determining the normal force Fd, the normal vector information of the micro contact surface dA is used, and the direction of the normal vector is the direction of the normal force Fd as described above. When the magnitude of the normal force Fd is calculated by using the relationship between the contact pressure p and the micro contact surface dA, the magnitude and direction of the normal force Fd are determined. The sum of the normal force Fd is finally obtained by integrating or summing the normal force Fd acting on the micro contact surface dA with respect to the contact surface A of the external force acting portion 20 and the target object m.

On the other hand, the direction of the normal force Fd can be determined by including the components for at least two directions of the orthogonal coordinate system, i.e., the x component and the y component.

However, although the two-dimensional view is taken as an example in the drawing, it can be extended to three-dimensional view using the same principle.

Hereinafter, a step S300 of determining the normal force Fd and a step S400 of calculating the shear force Ff will be described in detail.

The sum of the contact forces acting on the contact surface A of the external force acting portion 20 can be obtained as follows.

Figure pat00001

As shown in the above equation, the sum of the micro contact forces f (A) acting on the micro contact surface dA becomes the contact force.

The micro contact force f (A) can be decomposed as follows by the normal force Fd in the normal direction of the micro contact surface dA and the shearing force Ff in the vertical direction force of the normal force Fd. At this time, the normal force Fd is a main force that deforms the shape of the target object m in a direction perpendicular to the contact surface, and the shearing force Ff becomes a frictional force.

Figure pat00002

The total sum of the normal force Fd of the contact surface A and the total sum of the shearing force Ff can be expressed as follows.

Figure pat00003

At this time, the direction of the micro contact pressure pc (A) acting on the micro contact surface dA is opposite to the normal vector of the contact surface A,

Figure pat00004
. Therefore, the summation of the normal force Fd can be expressed as follows.

Figure pat00005

here

Figure pat00006
Refers to the gradient of the contact surface (A).

The total sum of the vertical forces Fd and the total shearing force Ff is the contact force F acting on the external force acting portion 20 and therefore calculating the shearing force Ff using the normal force Fd S400, the shear force Ff is calculated.

The relationship between the contact force (F), the normal force (Fd) and the shearing force (Ff) can be expressed as follows.

Figure pat00007

Fig. 4 is a simulation result of applying the method of disassembling contact force.

When the target object m and the external force application unit 20 are simulated and the external force application unit 20 and the target object m come in contact with each other and the target object m is deformed, Can be applied. This simulation was performed using ABAQUS. The simulation condition is that the external force acting portion 20 is made of a rigid member having no deformation of a circular cross section and that the external force having a shear force Ff (FIG. 5 (b)) was performed. Also, the coefficient of static friction of the target object m was set to one.

FIG. 5 (a) is a graph showing various contact forces varying during execution of a simulation, and FIG. 5 (b) is a graph showing a friction coefficient calculated according to a contact force.

 As shown in the figure, when the shearing force Ff is estimated by using the conventional method and the method of decomposing the contact force according to the present invention is used (green), the static friction coefficient is more accurately calculated .

Referring to FIG. 5 (b), the conventional method calculates the shear force Ff only by the resultant force, which causes a large error in the calculated shear force Ff (Burgundy). As described above, the static friction coefficient of the target object m set as the condition of simulation is 1, and the static friction coefficient calculated from the value obtained by dividing the contact force according to the present invention and obtaining the shearing force Ff converges to 1 . Thus, even if the target object m is deformed into various shapes according to various contact forces applied to the target object m, the normal force Fd and the shearing force Ff can be decomposed.

6 is a view showing another embodiment of a method for disassembling the contact force according to the present invention.

As shown in the drawing, the contact pressure measuring step S100 may be performed using a sensor unit including a plurality of sensors. 6 (a) shows a section of the external force acting portion 20, and a plurality of pressure sensors 31 provided on the external surface of the external force acting portion 20 are shown. At this time, the sum of the contact pressures p can be obtained by using the contact pressure p measured by the respective pressure sensors 31, and the vertical force Fd can be calculated.

On the other hand, when a plurality of pressure sensors 31 are provided, the position of each pressure sensor 31, that is, the normal direction of the pressure sensor 31 according to the geometry information, can be known in advance. Referring again to FIG. 6 (a), a plurality of pressure sensors 31 are provided on the outer peripheral surface of the external force acting portion 20 at regular angular intervals.

Hereinafter, a step S300 of determining the vertical force Fd using the geometric information and a step S400 of calculating the shear force in the case where the plurality of pressure sensors 31 are provided will be described in detail.

Which is a gradient of the contact surface (A) and the contact surface (A)

Figure pat00008
Can be expressed as follows in the Cartesian coordinate system.

Figure pat00009

Figure pat00010

here

Figure pat00011
And
Figure pat00012
If
Figure pat00013
,
Figure pat00014
, So the above two expressions can be expressed as follows.

Figure pat00015

Figure pat00016

Meanwhile,

Figure pat00017
, And when R is a constant, the normal force (Fd) can be expressed as follows.

Figure pat00018

6 (a), when the plurality of pressure sensors 31 are provided, the vertical force Fd is the sum of the vertical forces Fd of the respective pressure sensors 31, so that it can be expressed as follows. At this time, as shown in Fig. 6 (b), the contact pressure p measured by the plurality of pressure sensors 31 is reflected in the calculation.

Figure pat00019

Here, n is the number of the pressure sensors 31 disposed on the outer surface, and k is a value in the kth pressure sensor 31.

The shear force Ff can be calculated by the difference between the contact force F and the vertical force Fd as follows.

Figure pat00020

Thus, when the method of disassembling the contact force is applied to the simulation, a result that the force can be more accurately decomposed is obtained.

7 is a perspective view of a haptic device to which a method of disassembling a contact force according to the present invention is applied.

As shown in the figure, the haptic device according to the present invention may include a body 10, an external force application unit 20, a sensor unit, and an operation unit 40.

The body 10 constitutes the overall appearance of the haptic device and may be provided with an arithmetic unit 40 and is configured to support the external force acting portion 20. [

The external force application unit 20 may include an end effector 22 contacting the target object m and the end effector 22 may be configured to contact the target object m, (m). The target object m can be deformed by the contact between the end effector 22 and the target object m. The end effector 22 may be provided with a wear portion 21 so that the end effector 22 can be worn by a user. The end effector 22 may be configured to be movable in three directions so that the end effector 22 can contact the target object m in various postures and directions, and the end effector 22 may be configured to be capable of rotating the wearer 21.

The sensor unit is configured to measure the contact pressure p of the external force acting portion 20 and the target object m and the resultant force F acting on the external force acting portion 20 and the posture of the external force acting portion 20 do.

The sensor unit may be configured to include a pressure sensor 31, a force sensor 32, and a position sensor 33. The pressure sensor 31 is provided on the outer surface of the external force acting portion 20 so as to measure the pressure when the external force acting portion 20 contacts the target object m. The pressure sensor 31 may be configured to measure pressure at various points in a configuration such as a tactile sensor array. The force sensor 32 is configured to measure a force applied to the target object m by the external force application portion 20 and may be provided at one side of the external force application portion 20. [ The position sensor 33 is provided in the joint of the wearer 21 to measure the rotation angle. However, since the configuration of the sensor unit is widely used, a detailed description of the configuration will be omitted. The force sensor 32 and the position sensor 33 may be installed at various positions to measure various rotational angles due to the contact force F of the external force acting portion 20 and various postures .

The calculation unit 40 is configured to calculate the normal force Fd and the shearing force Ff based on the measurement value measured from the sensor unit.

The calculating unit 40 receives the contact pressure p value of the contact surface A measured from the pressure sensor 31 and calculates the contact force F acting on the external force acting portion 20 measured by the force sensor 32. [ And receives the measured attitude information of the wearer 21 from the position sensor 33. [

The calculation unit 40 calculates the normal force Fd which is the force in the normal direction of the contact surface A where the pressure sensor 31 contacts the target object m from the contact pressure p measured from the pressure sensor 31 .

Since the external force acting portion 20 can contact the target object m in various postures as described above, the geometric information of the pressure sensor 31 provided on the external force acting portion 20 and the geometric information of the position sensor 33 And the direction of the vertical force Fd is corrected using the measured rotation angle. And the shearing force Ff can be obtained by a difference between the contact force F and the corrected vertical force Fd.

The calculating unit 40 calculates the shearing force Ff in the direction parallel to the contact surface A due to the difference between the contact force F measured from the force sensor 32 and the normal force Fd.

As described above, the method of disassembling the contact force according to the present invention and the haptic device using the same can measure the vertical force Fd at the contact surface A and calculate the shear force Ff in the horizontal direction from the contact force A Accurate force measurement is possible. Therefore, the augmented reality can be realized more accurately, and since it can be measured at a plurality of points, the system can be expanded to a system for handling a plurality of systems, and the effect can be applied to complex shapes.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, . Therefore, it should be understood that the above-described embodiments are illustrative in all aspects and not restrictive. The scope of the present invention is defined by the appended claims rather than the detailed description and all changes or modifications derived from the meaning and scope of the claims and their equivalents are to be construed as being included within the scope of the present invention do.

S100: contact pressure measuring step
S200: contact force measurement step
S300: Step of determining vertical force
S400: Step of calculating shear force
m: Target object
p: contact pressure
Fd: vertical force
Ff: shear force
F: contact force
A: contact surface
dA: Micro contact surface
pc (A): Micro contact pressure
10: body portion 20: external force acting portion
21: Wear section 22: End effector
31: pressure sensor 32: force sensor
33: position sensor 40:

Claims (16)

A method of decomposing a contact force when an external force acting on an external force transmitting portion is resilient and transmits the external force to a deformable target object,
A contact pressure measuring step of measuring a contact pressure acting on a contact surface between the target object and the external force acting portion;
A contact force measuring step of measuring a contact force acting on the external force acting portion by the target object;
Determining a normal force which is a normal force of the contact surface from the contact pressure; And
Calculating a shear force that is a force in a plane direction of the contact surface based on the normal force and the contact force. The method according to claim 1,
Wherein the determining the vertical force determines a normal force vector including a component for at least two directions of the Cartesian coordinate system,
Wherein calculating the shear force calculates a shear force vector for at least two directions corresponding to the normal force vector. 3. The method of claim 2,
The contact pressure measuring step
Wherein the contact pressure is measured by a sensor portion provided on a contact surface of the external force acting portion or a contact surface of the target object. The method of claim 3,
The sensor unit includes:
And a plurality of sensors for measuring pressure at a plurality of contact points,
Wherein the step of measuring the contact pressure and the step of determining the normal force each measure and determine the contact pressure and the normal force respectively at the plurality of sensors. 5. The method of claim 4,
Wherein determining the normal force is determined by a sum of respective normal forces measured from the plurality of sensors. The method of claim 3,
Wherein the determining the vertical force comprises:
And the sensor unit determines the vertical force based on the geometry information. 3. The method of claim 2,
Wherein the external force acting portion comprises an operating portion configured to allow a user to operate the device or a wear portion configured to be able to be operated by the wearer. An external force acting portion configured to transmit an external force to a resilient and deformable target object;
A sensor portion configured to measure a contact pressure acting on the contact surface when the target object and the external force acting portion are in contact with each other and a contact force acting on the external force acting portion; And
And a calculating unit for calculating a normal force which is a normal force of the contact surface from the contact pressure and a shear force which is a force in a plane direction of the contact surface based on the normal force and the contact force. 9. The method of claim 8,
The sensor unit includes:
A pressure sensor for measuring a contact pressure of the external force acting portion; And
And a force sensor configured to measure a contact force acting by the target object. 10. The method of claim 9,
And the pressure sensor is provided on an outer surface of the external force acting portion. 10. The method of claim 9,
Wherein the external force acting portion includes a wear portion configured to be wearable on a finger, and the pressure sensor is disposed on an outer surface of the wear portion. 12. The method of claim 11,
Wherein the pressure sensor is configured to be capable of measuring the contact pressure at a plurality of points on the outer surface of the wearer. 13. The method of claim 12,
Wherein the calculation unit is configured to calculate each of the vertical forces using the geometric information according to the arrangement positions of the plurality of sensors disposed on the wearer and calculate the shear force by summing the respective vertical forces. 14. The method of claim 13,
The external force acting portion is configured to be rotatable,
Wherein the haptic device further comprises a position sensor configured to measure a rotation angle of the external force acting portion,
Wherein the calculation unit is configured to correct the normal direction or tangential direction of the contact surface in accordance with the rotation of the external force acting unit. 12. The method of claim 11,
Wherein the pressure sensor comprises a tactile sensor. 10. The method of claim 9, wherein the external force acting portion is an end effector of the robot.
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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05113376A (en) * 1991-10-21 1993-05-07 Toshiba Corp Tip contact force detection device for robot
JP2003015810A (en) * 2001-06-29 2003-01-17 Tadatoshi Goto Glove-shaped input device
JP2006021287A (en) * 2004-07-09 2006-01-26 Univ Waseda Device for detecting contact force of robot
JP2006297542A (en) * 2005-04-20 2006-11-02 Toyota Motor Corp Slip detection device on finger surface of robot hand

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05113376A (en) * 1991-10-21 1993-05-07 Toshiba Corp Tip contact force detection device for robot
JP2003015810A (en) * 2001-06-29 2003-01-17 Tadatoshi Goto Glove-shaped input device
JP2006021287A (en) * 2004-07-09 2006-01-26 Univ Waseda Device for detecting contact force of robot
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