JRM Vol.18 No.2 pp. 121-130
doi: 10.20965/jrm.2006.p0121


Optical Torque Sensors for Local Impedance Control Realization of an Anthropomorphic Robot Arm

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto,
and Susumu Tachi

The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

November 2, 2005
March 3, 2006
April 20, 2006
optical torque sensor, impedance control
We recently developed an optical torque sensor to replace expensive strain-gauge-based sensor on the anthropomorphic robot arm and realize local impedance control in individual joints.
Cite this article as:
D. Tsetserukou, R. Tadakuma, H. Kajimoto, and S. Tachi, “Optical Torque Sensors for Local Impedance Control Realization of an Anthropomorphic Robot Arm,” J. Robot. Mechatron., Vol.18 No.2, pp. 121-130, 2006.
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