@article{Kim_Kwak_Hong_An_2014, title={Miniaturized Force-Torque Sensor Built in a Robot End-Effector for Delicate Tool-Tip Gripping Control}, volume={20}, url={https://eejournal.ktu.lt/index.php/elt/article/view/7258}, DOI={10.5755/j01.eee.20.6.7258}, abstractNote={A robot end-effector or gripper must have the capability to endure both the weight and acceleration of the object in spite of its frequent movement while a robot uses the gripper to handle various objects and assists the tasks of a person. In this regard, it is essential to directly measure the amounts of gripping force and torque applied to the object by the gripper. This work presents the design and development of a miniaturized force-torque (FT) sensor built inside the gripper with a thickness similar to that of the human finger. It enables efficient use of the FT sensor for delicate tool-tip gripping control of the gripper in the packaging line of electrical devices such as mobile phones. The FT sensor is optimized for acquiring the 3-DoF force-torque information of a single-axis gripping tool. The performance of the FT sensor has been verified through characterization experiments and integrated tests on the gripper. <p>DOI: <a href="http://dx.doi.org/10.5755/j01.eee.20.6.7258">http://dx.doi.org/10.5755/j01.eee.20.6.7258</a></p>}, number={6}, journal={Elektronika ir Elektrotechnika}, author={Kim, Yoon-Gu and Kwak, Jeong-Hwan and Hong, Dae-Han and An, Jinung}, year={2014}, month={Jun.}, pages={3-7} }