Please use this identifier to cite or link to this item: http://localhost/handle/Hannan/211369
Title: Contact Force Decomposition Using Contact Pressure Distribution
Authors: Hyoungkyun Kim;Seungmoon Choi;Wan Kyun Chung
Year: 2017
Publisher: IEEE
Abstract: Many robotics applications involving contact with objects require the decomposition of an external force measured by a force sensor into its normal and shear components. In this paper, we present a general and effective contact force decomposition method based on the contact pressure distribution. The contact pressure distribution can be measured easily using recently developed flexible pressure sensor arrays. Our method requires no preprocessing and provides accurate force decomposition, even for concave external objects. These advantages are demonstrated by simulations and experiments.
URI: http://localhost/handle/Hannan/211369
volume: 2
issue: 1
More Information: 290,
297
Appears in Collections:2017

Files in This Item:
File SizeFormat 
7536207.pdf2.3 MBAdobe PDF
Title: Contact Force Decomposition Using Contact Pressure Distribution
Authors: Hyoungkyun Kim;Seungmoon Choi;Wan Kyun Chung
Year: 2017
Publisher: IEEE
Abstract: Many robotics applications involving contact with objects require the decomposition of an external force measured by a force sensor into its normal and shear components. In this paper, we present a general and effective contact force decomposition method based on the contact pressure distribution. The contact pressure distribution can be measured easily using recently developed flexible pressure sensor arrays. Our method requires no preprocessing and provides accurate force decomposition, even for concave external objects. These advantages are demonstrated by simulations and experiments.
URI: http://localhost/handle/Hannan/211369
volume: 2
issue: 1
More Information: 290,
297
Appears in Collections:2017

Files in This Item:
File SizeFormat 
7536207.pdf2.3 MBAdobe PDF
Title: Contact Force Decomposition Using Contact Pressure Distribution
Authors: Hyoungkyun Kim;Seungmoon Choi;Wan Kyun Chung
Year: 2017
Publisher: IEEE
Abstract: Many robotics applications involving contact with objects require the decomposition of an external force measured by a force sensor into its normal and shear components. In this paper, we present a general and effective contact force decomposition method based on the contact pressure distribution. The contact pressure distribution can be measured easily using recently developed flexible pressure sensor arrays. Our method requires no preprocessing and provides accurate force decomposition, even for concave external objects. These advantages are demonstrated by simulations and experiments.
URI: http://localhost/handle/Hannan/211369
volume: 2
issue: 1
More Information: 290,
297
Appears in Collections:2017

Files in This Item:
File SizeFormat 
7536207.pdf2.3 MBAdobe PDF