Paper:
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
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.
and Susumu 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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Copyright© 2006 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.