Development of joint torque sensor and calibration method for robot finger

摘要

This paper discusses a torque sensor for robot hands along with its novel calibration method. Recently, there has been increasing interest in service robots which can manipulate various objects to assist humans. A dexterous robot with precise sensors can greatly enhance the performance of such robots. In this study, we propose a joint torque sensor for robot hands and a calibration method, which allows the users to easily calibrate the robot hand without disassembling it.