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http://dx.doi.org/10.5302/J.ICROS.2012.18.10.964

Force Control of Robot Fingers using Series Elastic Actuators  

Lee, Seung-Yup (Korea University)
Kim, Byeong-Sang (Korea University)
Song, Jae-Bok (Korea University)
Chae, Soo-Won (Korea University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.18, no.10, 2012 , pp. 964-969 More about this Journal
Abstract
Robot hands capable of grasping or handling various objects are important for service robots to effectively aid humans. In particular, controlling a contact force and providing a compliant motion are essential when the hand is in contact with objects. Many dexterous robot hands equipped with force/torque sensors have been developed to perform force control, but they suffer from the complexity of control and high cost. In this paper, a low-cost robot hand based on SEA (Series Elastic Actuator), which is composed of compression spring, stretch sensor, and wire, is proposed. The grasping force can be estimated by measuring the compression length of spring, which would allow the hand to perform force control. A series of experimentations are carried out to verify the performance of force control of the proposed robot hand, and it is shown that it can successfully control the contact force without any additional force/torque sensors.
Keywords
SEA (Series Elastic Actuator); robot hand;
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Times Cited By KSCI : 1  (Citation Analysis)
Times Cited By SCOPUS : 0
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