RT Conference Proceedings
T1 pHRI Gripper with Pressure Sensing.
A1 Lara, Francisco
A1 Castellanos-Ramos, Julián
A1 Trujillo-León, Andrés
A1 Urdiales-García, Amalia Cristina
A1 Benavides, Jorge L.
A1 Gómez-de-Gabriel, Jesús Manuel
K1 Transductores de presión
K1 Biosensores
K1 Robots
K1 Interacción hombre-robot
AB Physical Human-Robot Interaction (pHRI) is essential for robots that establish contact with humans, like assistive or rescue robots. pHRI demands hard safety and compliance constraints. Tactile sensing is vital for pHRI, as vision and/or range sensors alone can not cope with constant occlusions while grasping. Measuring pressure on the grasping surface is crucial to avoid injury, predict user intent and successfully perform collaborative movements. This work presents a new three-fingered gripper equipped with novel tactile sense capability via arrays of finger pressure sensors. Experiments gripping a human arm on the distal and proximal surfaces of the gripper fingers have been performed to assess sensing performance in the normal and tangential components. Results prove that a good estimation of interaction between human and robot is achieved in both normal and tangential movements.
PB Springer Nature
YR 2023
FD 2023
LK https://hdl.handle.net/10630/36615
UL https://hdl.handle.net/10630/36615
LA eng
NO Lara, F., Castellanos-Ramos, J., Trujillo-León, A., Urdiales, C., Benavides, J.L., Gómez-de-Gabriel, J.M. (2024). pHRI Gripper with Pressure Sensing. In: Marques, L., Santos, C., Lima, J.L., Tardioli, D., Ferre, M. (eds) Robot 2023: Sixth Iberian Robotics Conference. ROBOT 2023. Lecture Notes in Networks and Systems, vol 978. Springer, Cham. https://doi.org/10.1007/978-3-031-59167-9_34
NO https://www.springernature.com/gp/open-science/policies/book-policies
NO PID2021-127221OB-I00 (Plan Estatal de Investigación Científica, Técnica y de Innovación 2021-2023) and UMA20-FEDERJA-052 (Programa Operativo FEDER Andalucía 2014-2020).
DS RIUMA. Repositorio Institucional de la Universidad de Málaga
RD 3 mar 2026