ROMANSY 11 pp 381-388 | Cite as

Contact Tasks Realization by Sensing Contact Forces

  • B. Borovac
  • L. Nagy
  • M. Sabli
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


A key issue in robotized realization of any type of the contact task is the control of forces arising during contact between the object and the environment. The most common way of force measurement is with a force sensor, usually placed at the robot wrist, which can measure all six components of force and moment. “The force sensor and the environment are both the systems with natural frequency responses of the same order of magnitude as that of the manipulator. When these are coupled by contact of the manipulator with the environment, then the resulting system is very difficult, if not impossible, to stabilize” [1]. It will be very desirable that the sensor have mechanical compliance properties, i.e. “soft sensors are needed” [2]. The passive compliant behavior of the object itself can be realized by soft grasping of the object, i.e. by eliminating rigid contact surfaces. This can be achieved if soft material [3,4] between the hard object and the gripper “skeleton” is used. Use of a soft material on the fingertips [5,6] can significantly improve behavior of the whole system. Characteristics of various soft materials used on fingertips have been investigated in [7].


Contact Force Normal Force Axial Force Force Sensor Tactile Sensor 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • B. Borovac
    • 1
  • L. Nagy
    • 1
  • M. Sabli
    • 1
  1. 1.University of Novi SadNovi SadYugoslavia

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