A potential 4-D fingertip force sensor for an underwater robot manipulator

Qiaokang Liang; Dan Zhang; Quanjun Song; Yunjian Ge

doi:10.1109/JOE.2010.2050362

A potential 4-D fingertip force sensor for an underwater robot manipulator

Qiaokang Liang, Dan Zhang, Quanjun Song, Yunjian Ge

Research output: Journal article publication › Journal article › Academic research › peer-review

25 Citations (Scopus)

Abstract

The latest generation of underwater robots employ manipulators without force sensors. Accordingly, this paper presents a novel 4-D fingertip force sensor based on an E-type membrane for underwater robot manipulators. Specifically, this sensor is aimed at obtaining the accurate interaction force between underwater robot manipulators and other objects. Moreover, a seal technique and natural pressure compensation for the sensor are also described. The experimental results demonstrate strong linearity, high sensitivity, and weak couplings.

Original language	English
Article number	5535227
Pages (from-to)	574-583
Number of pages	10
Journal	IEEE Journal of Oceanic Engineering
Volume	35
Issue number	3
DOIs	https://doi.org/10.1109/JOE.2010.2050362
Publication status	Published - Jul 2010
Externally published	Yes

Keywords

4-D
Force/torque sensor
overload protection
underwater robot

ASJC Scopus subject areas

Ocean Engineering
Mechanical Engineering
Electrical and Electronic Engineering

More information

10.1109/JOE.2010.2050362

Cite this

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A potential 4-D fingertip force sensor for an underwater robot manipulator

Abstract

Keywords

ASJC Scopus subject areas

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