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

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

Received:
November 2, 2005
Accepted:
March 3, 2006
Published:
April 20, 2006
Keywords:
optical torque sensor, impedance control
Abstract

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:
Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, and
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.
Data files:
References
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