2022
High Dynamic Range Force Sensing of a Robot Hand Combining Signals on Tip and Wrist
RA-L 2022
When a robot grasps a tool, the force at the tip of the tool needs to be determined. However, the vibration noise caused by the inertial force of the hand is a major factor that degrades the force-sensing performance. In this study, we develop a gripper force sensor that uses the structure of the fi