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A Simple and Compliant Force Sensing Palm for the MLab Simple Hand

Garth Zeglin, Alberto Rodriguez and Matthew T. Mason
Carnegie Mellon University, IEEE International Conference on Robotics and Automation (ICRA 2013), May, 2013

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Abstract

Sensing the forces applied to the palm of a robot manipulator requires robust compliant sensors guarded against collision. The force sensing palm for the MLab Simple Hand measures three components of net contact force in a simple robust design using flexure springs and optical position sensing. The hand is calibrated in an automatic process. Measurements are included to compare performance to the theoretical model.

BibTeX Reference
@conference{Zeglin-2013-7708,
title = {A Simple and Compliant Force Sensing Palm for the MLab Simple Hand},
author = {Garth Zeglin and Alberto Rodriguez and Matthew T. Mason},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA 2013)},
school = {Robotics Institute , Carnegie Mellon University},
month = {May},
year = {2013},
address = {Pittsburgh, PA},
}
2017-09-13T10:39:23+00:00