Research Article
Development of Robots with Soft Sensor Flesh for Achieving Close Interaction Behavior
Table 1
Specifications of macket's skeleton.
| Total DOF | 26 |
| Height | 800 mm |
| Weight | 5.6 kg (not including soft cover) |
| Actuator | RX-64 (maximum hold torque 64 kgf·cm) | (ROBOTIS Co.) | RX-28 (maximum hold torque 28 kgf·cm) | (ROBOTIS Co.) |
| | FSRs for tactile and ZMP sensor | | (Interlink Co.), | | potentiometers for dislocation sensor | | (ALPS Electric Co.), | Sensor | 3D Motion Sensor MDP-A-3U9S-DK | | (NEC/TOKIN Co.), | | two cameras, two microphones, and | | 3D deformation sensor | | (explained in Section 3) |
| Electric interface | RS-485 (actuators, sensors), USB (sensors) |
| Human interface | Two cameras, two microphones, and speaker |
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