I thought a lot about how to feel the power of the grip / fingers on an object well. There were several methods here – hall sensors, conductor sponge compression.
The current is proportional to the motor torque/force. If we measure the current, we also know the force exerted. We know it’s caught something, we know what force he’s squeezing. hat is, the current consumption of the servo motor must be measured per finger, on the basis of which it can even be regulated. Don’t need any extra sensors at the end of fingers. If we want to be simpler, we can measure the current consumption of the 5 fingers at once, this can also be evaluated as a function of the movement of the fingers.
f course, a few things need to be considered, such as the speed of movement, because it also depends on the current, but this can be handled by software.
Has anyone tried to control this way?
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