작업물 정밀 조작을 위한 접촉력 센싱 기능을 가지는 그리퍼 툴팁 개발

다국어 초록 (Multilingual Abstract)

Recently, interest in a method of performing sophisticated object manipulation by combining a gripper having a simple mechanism (such as 1 degree of freedom -2 finger) and artificial intelligence is increasing. In order to perform high-level work such as sewing, assembling, and cooking with a simple mechanism or to provide social services, various physical information necessary for work is required. In particular, the measurement of the contact force between the gripping object and the gripper is an essential function for sophisticated manipulation. As a solution to this problem in previous papers, the authors proposed a gripper tooltip that recognizes the twist of the elastic body attached between the gripper contact surface and the joint with an encoder and estimates the contact force. This paper deals with the improvement of the gripping force sensing tooltip developed in the previous paper. The design of enhanced contact force transfer mechanism and spring structure is suggested.