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A Microrobotic Gripper and Force Sensor

  • Conference paper
Proceedings of the 2011 2nd International Congress on Computer Applications and Computational Science

Part of the book series: Advances in Intelligent and Soft Computing ((AINSC,volume 144))

Abstract

This paper describes a microrobotic gripper made from an ionic polymer metal composite (IPMC) material. The grasping capabilities of this device are described theoretically, predicting a 1.22 mN force when grasping a rigid object. Experimental results of this grasping are shown, corroborating the expected force with a measurement of 1.2 mN. In addition, a small modification to the finger, i.e., cutting one of the finger surfaces into two separate pieces allows the device to function as both a sensor and actuator. The microfinger’s sensing capability is described through its application as a force sensor.

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Author information

Authors and Affiliations

  1. IEEE, Albuquerque, USA

    Ron Lumia

Authors
  1. Ron Lumia
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Editor information

Editors and Affiliations

  1. Bina Nusantara University, Perumahan Menteng Metropolitan Kav K3-No1 7., Caking, Indonesia

    Ford Lumban Gaol

  2. , School of Computing and Mathematics, University of Western Sydney, Locked Bag 1797, Penrith, 2751, New South Wales, Australia

    Quang Vinh Nguyen

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© 2012 Springer-Verlag GmbH Berlin Heidelberg

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Lumia, R. (2012). A Microrobotic Gripper and Force Sensor. In: Gaol, F., Nguyen, Q. (eds) Proceedings of the 2011 2nd International Congress on Computer Applications and Computational Science. Advances in Intelligent and Soft Computing, vol 144. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-28314-7_1

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  • DOI: https://doi.org/10.1007/978-3-642-28314-7_1

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-28313-0

  • Online ISBN: 978-3-642-28314-7

  • eBook Packages: EngineeringEngineering (R0)

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