Mechatronic fingernail with static and dynamic force sensing

Kõiva R, Schwank T, Walck G, Haschke R, Ritter H (2018)
In: International Conference on Intelligent Robots and Systems (IROS).

Konferenzbeitrag | Veröffentlicht | Englisch
 
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Abstract / Bemerkung
Our fingernails help us to accomplish a variety of manual tasks, but surprisingly only a few robotic hands are equipped with nails. In this paper, we present a sensorized fingernail for mechatronic hands that can capture static and dynamic interaction forces with the nail. Over the course of several iterations, we have developed a very compact working prototype that fits together with our previously developed multi-cell tactile fingertip sensor into the cavity of the distal phalange of a human-sized robotic hand. We present the construction details, list the key performance characteristics and demonstrate an example application of finding the end of an adhesive tape roll using the signals captured by the sensors integrated in the nail. We conclude with a discussion about improvement ideas for future versions.
Stichworte
Force and Tactile Sensing; Multifingered Hands; Dexterous Manipulation
Erscheinungsjahr
2018
Titel des Konferenzbandes
International Conference on Intelligent Robots and Systems (IROS)
Konferenz
International Conference on Intelligent Robots and Systems (IROS)
Konferenzort
Madrid, Spain
Konferenzdatum
2018-10-01 – 2018-10-05
Page URI
https://pub.uni-bielefeld.de/record/2918157

Zitieren

Kõiva R, Schwank T, Walck G, Haschke R, Ritter H. Mechatronic fingernail with static and dynamic force sensing. In: International Conference on Intelligent Robots and Systems (IROS). 2018.
Kõiva, R., Schwank, T., Walck, G., Haschke, R., & Ritter, H. (2018). Mechatronic fingernail with static and dynamic force sensing. International Conference on Intelligent Robots and Systems (IROS)
Kõiva, R., Schwank, T., Walck, G., Haschke, R., and Ritter, H. (2018). “Mechatronic fingernail with static and dynamic force sensing” in International Conference on Intelligent Robots and Systems (IROS).
Kõiva, R., et al., 2018. Mechatronic fingernail with static and dynamic force sensing. In International Conference on Intelligent Robots and Systems (IROS).
R. Kõiva, et al., “Mechatronic fingernail with static and dynamic force sensing”, International Conference on Intelligent Robots and Systems (IROS), 2018.
Kõiva, R., Schwank, T., Walck, G., Haschke, R., Ritter, H.: Mechatronic fingernail with static and dynamic force sensing. International Conference on Intelligent Robots and Systems (IROS). (2018).
Kõiva, Risto, Schwank, Tobias, Walck, Guillaume, Haschke, Robert, and Ritter, Helge. “Mechatronic fingernail with static and dynamic force sensing”. International Conference on Intelligent Robots and Systems (IROS). 2018.
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2019-09-25T06:52:11Z
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