著者

今村 信昭 吉成 聡志 金子 真

出版者

一般社団法人 日本機械学会

雑誌

日本機械学会論文集 C編 (ISSN:03875024)

巻号頁・発行日

vol.59, no.564, pp.2395-2400, 1993-08-25 (Released:2008-02-26)

参考文献数

14

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A simple torque sensor for a tendon-driven manipulator is proposed. The finger joint torque around a drive pulley is proportional to the tension difference on both ends of the pulley. With a coupling mechanism between tendons, this tension difference can be measured directly without detecting individual tendon tensions. The tension differential-type torque (T.D.T.) sensor is based on this idea and is useful for compensating for friction existing in the transmission system of the manipulator. However, so far, the T.D.T. sensor needs at least one tension pulley to support a driving tendon. This paper shows that it is possible to design a T.D.T. sensor without any tension pulley maintaing its basic principle. A torque sensor installation on the movable link makes it possible to eliminate the tension pulley and downsize it.