Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force

  title={Vision-based compliant-joint polymer force sensor integrated with microgripper for measuring gripping force},
  author={Ren-Jung Chang and Chih-Yi Cheng},
  journal={2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics},
A vision-based sensing system is developed for the measurement of gripping force in a polymer microgripper system. The system is implemented by a force sensing arm integrated with a microgripper, a CCD with microscopic system, and an image processing algorithm. The integrated force sensor and microgripper mechanism is fabricated by utilizing Polyurethane film. The microgripper is actuated by Shape memory alloy. The gripping force on a copper rod of diameter 20µm is analyzed, measured, and… CONTINUE READING


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