Development of a novel sensor for hybrid hand with three fingers and analysis of its measure performances

A novel sensor for a hybrid hand with three-fingers is developed and its measure performances for measuring the six-component force/torque of hybrid hand are analyzed. First, the performances of the sensor and its statics model are analyzed. The second, the mathematic models for the statics and stiffness of the rigid/compliant leg are established. Third, the statics equations among the forces of the six standard force sensors and the whole external load are established, and the forces of the sensor for the hybrid hand are measured and calibrated under a given external load. Finally, the analytical solutions of the statics model of the sensor for the hybrid hand are obtained and verified by its experimental solutions.