空気室を用いた人間-ロボット相互作用向けソフト六軸力覚センサ
Air-Chamber Based Soft Six-Axis Force/Torque Sensor for Human-Robot Interaction
シリコーンゴム製の空気室と16チャンネルの気圧センサを用いて、柔らかさを保ちながら六軸の力とトルクを計測できるソフトセンサを開発し、剛柔階層構造に基づく効果的な軸間干渉の分離手法を提案した。
詳しい要約
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著者: Jun Huo, Hongge Ru, Bo Yang, Xingjian Chen, Xi Li, Jian Huang
分類: cs.RO
原文アブストラクト
Soft multi-axis force/torque sensors provide safe and precise force interaction. Capturing the complete degree-of-freedom of force is imperative for accurate force measurement with six-axis force/torque sensors. However, cross-axis coupling can lead to calibration issues and decreased accuracy. In this instance, developing a soft and accurate six-axis sensor is a challenging task. In this paper, a soft air-chamber type six-axis force/torque sensor with 16-channel barometers is introduced, which housed in hyper-elastic air chambers made of silicone rubber. Additionally, an effective decoupling method is proposed, based on a rigid-soft hierarchical structure, which reduces the six-axis decoupling problem to two three-axis decoupling problems. Finite element model simulation and experiments demonstrate the compatibility of the proposed approach with reality. The prototype's sensing performance is quantitatively measured in terms of static load response, dynamic load response and dynamic response characteristic. It possesses a measuring range of 50 N force and 1 Nm torque, and the average deviation, repeatability, non-linearity and hysteresis are 4.9$\%$, 2.7$\%$, 5.8$\%$ and 6.7$\%$, respectively. The results indicate that the prototype exhibits satisfactory sensing performance while maintaining its softness due to the presence of soft air chambers.
