10 accepted papers
Force/Torque(F/T) sensing technology enables a dexterous robot control such as direct teaching, master-slave system, and pick-and-place task. In general, 6-axis F/T sensor is attached to the end-effector of the robot manipulator to assist in utilizing advanced robot systems. However, in actual appli
As advanced robotic technologies such as human-robot interaction and automatic assembly processes have emerged, torque sensors have become an essential component for robots. However, commercial torque sensors are not suitable for robotic applications because of their large sizes, heavy weights, narr
For more secure and delicate robotic surgery, force sensing ability is essential but it has still not been used in actual robot surgery. This is because the environmental factors that occur during actual operation affect the sensor and the sensor cannot give reliable force information. In this lette
This paper introduces a force-controllable quadruped robot system consists of twelve Actuator Modules embedded a novel Capacitive-type Joint Torque Sensor (CJTS) which is accurate (0.05 Nm), robust to impact, and easy to manufacture at low cost. The Actuator Module with CJTS shows accurate joint tor…
In this paper, we present a novel framework for quadrupedal stair climbing, which considers force interaction with stairs. For stable and robust climbing, a key issue is to avoid falling down on the stairs. From this point of view, control to minimize rate of change of angular momentum about Center…
Force-sensing system represents one of the vital components of robotic systems for physical interaction performances. This system is facilitated by the force controllable actuators. However, to make a force controllable actuator, it is still a challenging subject for the majority of the robotic syst…
Intrinsic problems for legged robots are `low energy efficiency' and `slow speed'. In this paper, we introduce a possible solution achieved through biological observations and developed a robotic leg applying the proposed method. The proposed robotic leg, AiDIN-IV Leg (Artificial DIgitigrade for Nat…
This paper presents a grasping force-feedback user interface (GFUI) which transfers the accurate kinesthetic force detected during robot-assisted minimally invasive surgery (RMIS) to a user, and allows the users to perform grasping motions with articulation and intuition. Using the GFUI, a developed…
This paper aims to develop novel surgical forceps integrated with a three-axis force sensor for robot-assisted minimally invasive surgery (RMIS). To detect accurate force sensing, a force sensing system is integrated to a gripper of a surgical instrument. At the gripper side, two possible locations…