摘要
介绍了HIT/DLR多指灵巧手的传感器系统,基于DSP,FPGA及A/D转换芯片等,实现了手指传感器信息的数字化采集和传输,提高了传感器的信号质量及系统可靠性.在灵巧手的传感器系统中,着重介绍了指尖六维力/力矩传感器、关节位置传感器、关节力矩传感器及触觉传感器等.
The paper presents a new full digital sensors system for HIT / DLR dexterous hand. Based on DSP, FPGA and A/D chip, the digital signal of sensors is acquired, processed and trans- mited. In the sensors system of the dexterous hand,authors mainly introduce six DOFfs fingertip force/ toque sensor, joint position sensor, joint torque sensor,tactile sensor and so on.
出处
《机械与电子》
2010年第4期46-49,共4页
Machinery & Electronics
基金
国家"八六三"计划资助项目(2008AA04Z203)
哈尔滨工业大学优秀青年教师培养计划资助项目(HITQNJS.2008.010)
