Abstract
The objective of this paper is to describe the design of a pair of sophisticated robot fingers which enable to sense three axis of forces and three axis of torques information using piezo-resistive strain gauges as sensing elements with frequency output. The fingers may be mounted onto a servo controlled robot gripper and interfaced with robot controller to serve as active compliance device for small parts assembly tasks. This newly direct force/torque sensor with frequency output employing RC oscillation principle has demonstrated great advantages with signal conditioning and processing relative to the conventional voltage output procedures. A description of the test results is also presented.© (1985) COPYRIGHT SPIE--The International Society for Optical Engineering. Downloading of the abstract is permitted for personal use only.
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