Measurement of mechanical impedance using quartz resonator force sensor during the process of grasping

摘要

Mechanical impedance of four types of cylindrical object was detected during the process of grasping. Generally, a robot hand must overcome sources of noise and suffers from dynamic forces. Therefore the sensor built into a robot hand is required to be insensitive to noise and to respond quickly. The quartz resonator force sensor described satisfies these conditions for measuring mechanical impedance.