Small sized force/torque sensors for robotic arms and hands

2016 Fiscal Year Research-status Report

• Project/Area Number: 15K21443
• Research Institution: Waseda University
• Principal Investigator: シュミッツ アレクサンダー 早稲田大学, 理工学術院, 准教授(任期付) (30729455)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: F/T sensors

Outline of Annual Research Achievements

We have implemented the 6-axis F/T sensor based on capacitive sensing. The sensor employs a unique arrangement of the 12 single-axis transducers to allow it to measure the 6-axis force-torque while being small in size, light weight and providing digital output (I2C).

Moreover, we further developed and evaluated the soft skin sensor based on Hall-Effect sensing. The sensor can now also be used on a curved surface like a fingertip. The sensor is low-cost, easy to manufacture, and can measure normal and shear forces. The SNR value of 54dB for 0.4N load was achieved, which is relatively high for a soft skin sensor. Several sensor modules were integrated in a robot hand.

We also performed work to optimize the fingertip shape and material and performed in-hand manipulation with the robot hand.

Current Status of Research Progress

2: Research has progressed on the whole more than it was originally planned.

Reason

Sensor prototypes have been implemented and tested, and we started the integration process in the robot hand.

Strategy for Future Research Activity

Work remains to be done for the implementation of the sensors on the robot. For example, we need an optimized microcontroller. Furthermore, the sensor production process needs to become more reliable. Especially for the 6-axis F/T sensor, there is a lot of room for improvement.

Causes of Carryover

We successfully implemented the sensor but want to do more experiments to evaluate the sensor on the robot.

Expenditure Plan for Carryover Budget

Materials will be bought and students will be paid in order to perform these experiments.

Research Products

• [Presentation] 柔軟性を有する分散型3軸触覚センサの開発 (2016)
  • Author(s): 黄 偉傑, 黄 振善, Harris Kristanto, Tito Pradhono Tomo, Sophon Somlor, Alexander Schmitz, 菅野 重樹
  • Organizer: 第１７回ＳＩＣＥシステムインテグレーション部門講演会
  • Place of Presentation: Sapporo, Japan
  • Year and Date: 2016-12-15 – 2016-12-17
• [Presentation] SNR Modeling and Material Dependency Test of a Low-cost and Simple to Fabricate 3D Force Sensor for Soft Robotics (2016)
  • Author(s): Tomo, T.P., Wong, W.K., Schmitz, A., Kristanto, H., Somlor, S., Hwang, J., Sugano, S.
  • Organizer: IEEE/SICE International Symposium on System Integration
  • Place of Presentation: Sapporo, Japan
  • Year and Date: 2016-12-13 – 2016-12-15
  • Int'l Joint Research
• [Presentation] A Modular, Distributed, Soft, 3-Axis Sensor System for Robot Hands (2016)
  • Author(s): Tomo, T.P., Wong, W.K., Schmitz, A., Kristanto, H., Sarazin, A., Jamone, L., Somlor, S., Sugano, S.
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Cancun, Mexico
  • Year and Date: 2016-11-15 – 2016-11-17
  • Int'l Joint Research
• [Presentation] A Study of Artificial Fingertip Designs and Their Influences on Performing Stable Prehension for Multi-Fingered Robot Hands (2016)
  • Author(s): Or, K., Morikuni, S., Ogasa, S., Funabashi, S., Schmitz, A., Sugano, S.
  • Organizer: IEEE-RAS International Conference on Humanoid Robots
  • Place of Presentation: Cancun, Mexico
  • Year and Date: 2016-11-15 – 2016-11-17
  • Int'l Joint Research
• [Presentation] Position-Force Combination Control with Passive Flexibility for Versatile In-Hand Manipulation Based on Posture Interpolation (2016)
  • Author(s): Or, K., Tomura, M., Schmitz, A., Funabashi, S., Sugano, S.
  • Organizer: IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Daejeon, Korea
  • Year and Date: 2016-10-09 – 2016-10-14
  • Int'l Joint Research
• [Presentation] 能動柔軟性と受動柔軟性による様々な物体の適応的な操りを目指したロボットハンドシステムの構築 (2016)
  • Author(s): Funabashi, S., Tomura, M., Or, K., Schmitz, A., Sugano, S.
  • Organizer: 34th Annual Conference of the Robotics Society of Japan
  • Place of Presentation: Yamagata, Japan
  • Year and Date: 2016-09-07 – 2016-09-09
• [Presentation] Development of Robotic Fingertip Morphology for Enhanced Manipulation Stability (2016)
  • Author(s): Or, K., Schmitz, A., Funabashi, S., Tomura, M., Sugano, S.
  • Organizer: IEEE International Conference on Advanced Intelligent Mechatronics
  • Place of Presentation: Banff, Canada
  • Year and Date: 2016-07-12 – 2016-07-15
  • Int'l Joint Research
• [Presentation] Achievement of In-hand Manipulation by Interpolation Control with Soft Skin (2016)
  • Author(s): Funabashi, S., Tomura, M., Or, K., Schmitz, A., Sugano, S.
  • Organizer: Robotics and Mechatronics Conference (Robomech)
  • Place of Presentation: Yokohama, Japan
  • Year and Date: 2016-06-08 – 2016-06-11
• [Remarks] Position-Force Combination Control with Passive
  • URL: http://spectrum.ieee.org/automaton/robotics/humanoids/video-friday-iros-2016-part-2
• [Patent(Industrial Property Rights)] 身体部位接触力センサ (2017)
  • Inventor(s): シュミッツ アレクサンダー 他
  • Industrial Property Rights Holder: 早稲田大学
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 特願2017-9422
  • Filing Date: 2017-01-23
• [Patent(Industrial Property Rights)] 近接触覚センサ (2016)
  • Inventor(s): シュミッツ アレクサンダー 他
  • Industrial Property Rights Holder: 早稲田大学
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 特願2016－136574
  • Filing Date: 2016-07-11