Abstract
We propose a novel tactile sensor system, APCS (Air Pressure Collision detection System), to reduce harmful force caused by collision between manipulators and environments. The APCS has a simple structure composed of flexible tubes which can give it a shock absorbing function and pressure sensor for measuring the change of air pressure generated by the collision. It can detect collision at the initial moment of impact force generation by differentiating air pressure wave, and can detect contact (collision with low speed) by measuring the value of air pressure.The flexibility of tubes is effective to reduce impact force and it covers all over a manipulator including joints. In this paper, we describe the principle and condition of collision (contact) detection of the APCS, and confirm its effectiveness of harmful force reduction through simple collision experiments.Then, we install the APCS to 3 DOF manipulator's links and joints and realize safe motions to reduce harmful force in contact and collision situations. From the result of experiments, we confirmed that the APCS is an effective sensor system in reduction of harmful force for personal service manipulators.
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