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Fingertip Force/Torque Sensor With High Isotropy and Sensitivity for Underwater Manipulation

[+] Author Affiliations
Qiaokang Liang

Chinese Academy of Sciences; University of Science and Technology of China, Hefei, Anhui, China

Dan Zhang, Zhongzhe Chi

University of Ontario Institute of Technology, Oshawa, ON, Canada

Yunjian Ge

University of Science and Technology of China, Hefei, Anhui, China

Paper No. DETC2010-28280, pp. 743-752; 10 pages
  • ASME 2010 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 12th International Conference on Advanced Vehicle and Tire Technologies; 4th International Conference on Micro- and Nanosystems
  • Montreal, Quebec, Canada, August 15–18, 2010
  • Conference Sponsors: Design Engineering Division and Computers in Engineering Division
  • ISBN: 978-0-7918-4412-0 | eISBN: 978-0-7918-3881-5
  • Copyright © 2010 by ASME


Control strategies for robotic manipulators in underwater applications are still immature compared with the strategies of the manipulators on land. Part of the reason is that there is no precise force/torque information, which is essential to the close-loop control. Unlike the sensor applied on the ground, the sensors for underwater applications have to endure the high-pressure, low-temperature and corrosive environment. Therefore, aimed at obtaining the accurate interaction force/torque between underwater robot manipulators and objects, a novel four-dimensional fingertip force sensor is presented based on e-type membrane for underwater robot manipulators. A seal technique is described. Experimental results demonstrate the design could detect force/torque with good linearity, high sensitivity and weak couplings.

Copyright © 2010 by ASME
Topics: Force , Torque , Sensors , Isotropy



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