The new 2 DOF frame torque sensor for the Metacarpophalangeal joint in robotic hand

Dae Ho Kim, Bong Seok Kim, Jung Hoon Hwang, Eun Tai Kim

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper presents a new type of 2 DOF frame torque sensor for replacing the pair of 1 DOF torque sensors. The 1 DOF torque sensors were used in Metacarpophalangeal(MCP) joint as well as Proximal Interphalangeal(PIP) joints of our previous version of robotic hand. However, because of the complexity in the MCP joint, the installation of the 1 DOF torque sensor was very complicated and the torques of the MCP joint were measured in combination. To overcome these, a new 2 DOF frame torque sensor was designed and verified in experiments. The developed sensor is being applied to the new version of robotic hand.

Original languageEnglish
Title of host publicationURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
Pages556-559
Number of pages4
DOIs
Publication statusPublished - 2011 Dec 1
Event2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 - Incheon, Korea, Republic of
Duration: 2011 Nov 232011 Nov 26

Publication series

NameURAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence

Other

Other2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
CountryKorea, Republic of
CityIncheon
Period11/11/2311/11/26

Fingerprint

End effectors
Torque
Sensors
Experiments

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Networks and Communications

Cite this

Kim, D. H., Kim, B. S., Hwang, J. H., & Kim, E. T. (2011). The new 2 DOF frame torque sensor for the Metacarpophalangeal joint in robotic hand. In URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence (pp. 556-559). [6145882] (URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence). https://doi.org/10.1109/URAI.2011.6145882
Kim, Dae Ho ; Kim, Bong Seok ; Hwang, Jung Hoon ; Kim, Eun Tai. / The new 2 DOF frame torque sensor for the Metacarpophalangeal joint in robotic hand. URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence. 2011. pp. 556-559 (URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence).
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abstract = "This paper presents a new type of 2 DOF frame torque sensor for replacing the pair of 1 DOF torque sensors. The 1 DOF torque sensors were used in Metacarpophalangeal(MCP) joint as well as Proximal Interphalangeal(PIP) joints of our previous version of robotic hand. However, because of the complexity in the MCP joint, the installation of the 1 DOF torque sensor was very complicated and the torques of the MCP joint were measured in combination. To overcome these, a new 2 DOF frame torque sensor was designed and verified in experiments. The developed sensor is being applied to the new version of robotic hand.",
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Kim, DH, Kim, BS, Hwang, JH & Kim, ET 2011, The new 2 DOF frame torque sensor for the Metacarpophalangeal joint in robotic hand. in URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence., 6145882, URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, pp. 556-559, 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011, Incheon, Korea, Republic of, 11/11/23. https://doi.org/10.1109/URAI.2011.6145882

The new 2 DOF frame torque sensor for the Metacarpophalangeal joint in robotic hand. / Kim, Dae Ho; Kim, Bong Seok; Hwang, Jung Hoon; Kim, Eun Tai.

URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence. 2011. p. 556-559 6145882 (URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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Kim DH, Kim BS, Hwang JH, Kim ET. The new 2 DOF frame torque sensor for the Metacarpophalangeal joint in robotic hand. In URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence. 2011. p. 556-559. 6145882. (URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence). https://doi.org/10.1109/URAI.2011.6145882