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 | |
| 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