ICRA 2011 Paper Abstract


Paper ThP101.4

Platt, Robert (MIT), Ihrke, Chris (General Motors), Bridgwater, Lyndon (NASA), Linn, Marty (General Motors), Diftler, Myron (NASA Johnson Space Center), Abdallah, Muhammad (General Motors R&D), Askew, Roger, Scott (NASA), Permenter, Frank (Oceaneering Space Systems)

A Miniature Load Cell Suitable for Mounting on the Phalanges of Human-Sized Robot Fingers

Scheduled for presentation during the Regular Sessions "Multifingered Hands" (ThP101), Thursday, May 12, 2011, 14:25−14:40, Room 3B

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 19, 2019

Keywords Force and Tactile Sensing, Dexterous Manipulation, Multifingered Hands


It is frequently accepted that tactile sensing must play a key role in robust manipulation and assembly. The potential exists to complement the gross shape information that vision or range sensors can provide with fine-scale information about the texture, stiffness, and shape of the object grasped. Nevertheless, no widely accepted tactile sensing technology currently exists for robot hands. Furthermore, while several proposals exist in the robotics literature regarding how to use tactile sensors to improve manipulation, there is little consensus. This paper describes the electro-mechanical design of the Robonaut 2 phalange load cell. This is a miniature load cell suitable for mounting on the phalanges of humanoid robot fingers. The important design characteristics of these load cells are the shape of the load cell spring element and the routing of small-gauge wires from the sensor onto a circuit board. The paper reports results from a stress analysis of the spring element and establishes the theoretical sensitivity of the device to loads in different directions. The paper also compares calibrated load cell data to ground truth load measurements for four different manufactured sensors. Finally, the paper summarizes work that applies the load cells to the problem of localizing flexible materials.



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