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.
A potential 4-D fingertip force sensor for an underwater robot manipulator
IEEE Journal of Oceanic Engineering ; 35 , 3 ; 574-583
2010
10 Seiten, 17 Quellen
Article (Journal)
English
Underwater soft manipulator, underwater robot and grabbing method of underwater soft manipulator
European Patent Office | 2024
|Dynamic manipulability of unconstrained underwater robot manipulator considered the fluid drag force
British Library Online Contents | 1996
|