Geodesic
Sensation model of an anthropomorphic manipulator for robotic systems
News of the Kabardin-Balkar scientific center of RAS, no. 6 (2019), pp. 88-94.

Voir la notice de l'article provenant de la source Math-Net.Ru

This article describes the task of sensing of an anthropomorphic manipulator for robotic systems in order to control the position of individual robot parts relative to each other. The structure of the proprioception system of the manipulator based on resistive flex sensors is described, as well as the connection diagram of the sensors to an analog-to-digital converter that collects data on the position of individual robot parts. In addition, a number of experiments were conducted to assess the linearity of the sensors output signal. It was found that the flex sensor has a different relationship for positive and negative bend angles. The resistance changes markedly when the sensor is bent (positive values of the bending angle), and the dependence is close to linear. And with negative values of the bending angle, the changes in resistance are insignificant. To sense the manipulator in the form of a human brush based on such a system, it is necessary to use 20 bend sensors.
Keywords: flexible sensor, manipulators, anthropomorphic robots. 
@article{IZKAB_2019_6_a11,
     author = {Yu. Kh. Khamukov and Yu. I. Popov and R. M. Khuzhokov and A. M. Ksalov and H. K. Kazanov},
     title = {Sensation model of an anthropomorphic manipulator for robotic systems},
     journal = {News of the Kabardin-Balkar scientific center of RAS},
     pages = {88--94},
     publisher = {mathdoc},
     number = {6},
     year = {2019},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/IZKAB_2019_6_a11/}
}
TY  - JOUR
AU  - Yu. Kh. Khamukov
AU  - Yu. I. Popov
AU  - R. M. Khuzhokov
AU  - A. M. Ksalov
AU  - H. K. Kazanov
TI  - Sensation model of an anthropomorphic manipulator for robotic systems
JO  - News of the Kabardin-Balkar scientific center of RAS
PY  - 2019
SP  - 88
EP  - 94
IS  - 6
PB  - mathdoc
UR  - http://geodesic.mathdoc.fr/item/IZKAB_2019_6_a11/
LA  - ru
ID  - IZKAB_2019_6_a11
ER  - 
%0 Journal Article
%A Yu. Kh. Khamukov
%A Yu. I. Popov
%A R. M. Khuzhokov
%A A. M. Ksalov
%A H. K. Kazanov
%T Sensation model of an anthropomorphic manipulator for robotic systems
%J News of the Kabardin-Balkar scientific center of RAS
%D 2019
%P 88-94
%N 6
%I mathdoc
%U http://geodesic.mathdoc.fr/item/IZKAB_2019_6_a11/
%G ru
%F IZKAB_2019_6_a11
Yu. Kh. Khamukov; Yu. I. Popov; R. M. Khuzhokov; A. M. Ksalov; H. K. Kazanov. Sensation model of an anthropomorphic manipulator for robotic systems. News of the Kabardin-Balkar scientific center of RAS, no. 6 (2019), pp. 88-94. http://geodesic.mathdoc.fr/item/IZKAB_2019_6_a11/

[1] Fundamentals of Psychophysiology, Textbook, ed. Yu.I. Aleksandrov (ed.), INFRA-M, M., 1997

[2] V. P. Deykalo, Clinical anatomy of the hand and surgical access, Textbook, eds. V.P. Deykalo, A.N. Tolstik, K.B. Boloboshko, VGMU, Vitebsk, 2013, 123 pp.

[3] S. A. Kolyubin, The dynamics of robotic systems, Textbook, ITMO University, SPb., 2017, 117 pp.

[4] A. F. Kotyuk, Sensors in modern measurements, Massovaya radio-biblioteka, 1277, Radio i svyaz, Goryachaya liniya Telekom, M., 2006, 96 pp.

[5] L. B. Bridgwater, C. A. Ihrke, M. A. Diftler, M. E. Abdallah, N. A. Radford, J. M. Rogers, S. Yayathi, R. S. Askew, D. M. Linn, “The Robonaut 2 Hand Designed To Do Work With Tools”, 2012 IEEE International Conference on Robotics and Automation Robots and Automation: Innovation for Tomorrow's Needs (May 14, 2012 - May 18, 2012, St. Paul, MN; United States)

[6] J. Butterfaß, M. Fischer, M. Grebenstein, S. Haidacher, G. Hirzinger, “Design and experiences with DLR HAND II”, World Automation Congress Tenth International Symposium on Robotics with Applications Seville (Spain. June 28th-July 1st, 2004)

[7] Yu She, Sandra Q. Liu, Peiyu Yu, Edward Adelson Exoskeleton-covered soft finger with vision-based proprioception and exteroception, 2019, arXiv: 1910.01287

[8] Leskov A.G., Bazhinova K.V., “System for planning and evaluating the capture of objects by manipulator-robot”, Proceedings of the International Scientific and Technological Conference, Extreme Robotics, St. Petersburg, 2016, 291–295

[9] FS-L-0055-253-ST Spectrasymbol resistive flex sensors datasheet, https://www.spectrasymbol.com/wp-content/uploads/2019/07/flexsensordatasheetv2019revA.pdf