Using Ultrasound for Measuring Grasping Force of Robot Soft Finger

Abstract

This paper describes a study on the usage of ultrasound to measure the grasping force components when elastic fingers of a robot grasp an object. The ultrasonic sensor embedded in the soft finger accurately measures the echoes timing lag and amplitude that give information about the amount and directions of the grasping force components. The experimental results indicate good sensitivity of the proposed soft finger to both normal and tangential components of the grasping force.