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Grasping-Force Sensor For Robot HandGrasping-force sensor designed for use on robot hand including interdigitating claws required to remain in alignment. Sensor integral part of grasping claw assembly on robot hand. Base frames deflect elastically, partly in manner of cantilever beam and partly in manner of parallelogram linkage. Strain gauges measure grasping forces by measuring deflections. Operator feels initial contact between claws and object and modifies motions of robot arm, hand and claws accordingly.
Document ID
19910000522
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Scheinman, Victor D.
(Caltech)
Bejczy, Antal K.
(Caltech)
Primus, Howard K.
(Caltech)
Date Acquired
August 14, 2013
Publication Date
October 1, 1991
Publication Information
Publication: NASA Tech Briefs
Volume: 15
Issue: 10
ISSN: 0145-319X
Subject Category
Mechanics
Report/Patent Number
NPO-16647
Accession Number
91B10522
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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