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

doi:10.1109/URAI.2011.6145882

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

Department of Electrical and Electronic Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

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 language	English
Title of host publication	URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence
Pages	556-559
Number of pages	4
DOIs	https://doi.org/10.1109/URAI.2011.6145882
Publication status	Published - 2011
Event	2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 - Incheon, Korea, Republic of Duration: 2011 Nov 23 → 2011 Nov 26

Publication series

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

Other

Other	2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011
Country/Territory	Korea, Republic of
City	Incheon
Period	11/11/23 → 11/11/26

All Science Journal Classification (ASJC) codes

Artificial Intelligence
Computer Networks and Communications

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10.1109/URAI.2011.6145882

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). Article 6145882 (URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence). https://doi.org/10.1109/URAI.2011.6145882

@inproceedings{159ed2b5ce0b4b18bb9940c35f9f87a2,

title = "The new 2 DOF frame torque sensor for the Metacarpophalangeal joint in robotic hand",

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.",

author = "Kim, {Dae Ho} and Kim, {Bong Seok} and Hwang, {Jung Hoon} and Kim, {Eun Tai}",

year = "2011",

doi = "10.1109/URAI.2011.6145882",

language = "English",

isbn = "9781457707223",

series = "URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence",

pages = "556--559",

booktitle = "URAI 2011 - 2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence",

note = "2011 8th International Conference on Ubiquitous Robots and Ambient Intelligence, URAI 2011 ; Conference date: 23-11-2011 Through 26-11-2011",

}

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 et al.
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 proceeding › Conference contribution

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N2 - 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.

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

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