Multidirectional Pneumatic Force Sensor For Grippers

  • R. Caen
  • S. Colin
Part of the Microprocessor-Based and Intelligent Systems Engineering book series (ISCA, volume 10)


The aim of this paper is to present an original multidirectional pneumatic force sensor based on the pneumatic potentiometer effect. It allows a gripper to maintain an object with the minimum necessary gripping force. The sensor is able to detect the forces due to the carried object (weight, inertia forces) which are directed in any direction in a plane perpendicular to the sensor axis. This detection in a whole plane considerably increases the possibilities of the I.M.F.T. Pneumatic Prehensor.

key words

Force acceleration pressure sensing systems prehensors grippers robotics 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. [1]
    Patent CNRS PCT /FR 86/ 0054 5 May 1986 (Inv. CAEN, R. and FONADE, C).Google Scholar
  2. [2]
    First price of Laboratoires de Recherches Région Midi Pyrénées. December 1989 and Gold Medal in Salon International des Inventions et Techniques Nouvelles de Genève. April 1990.Google Scholar
  3. [3]
    CAEN, R., DAT, J. and COLIN, S. “About tactile transducers used on a pneumatic prehensor with integral control”. Proceedings of International Conference on Automation. Robotics and Computer Vision. 19-21 September 1990, pp. 313–317, Singapore.Google Scholar
  4. [4]
    CAEN, R. and KHATTAB, A., “Pneumatic prehensor with tactile transducers”. Journal of Theoretical and Applied Mechanics. Vol. 7, No 6, 1988, pp. 875–897.Google Scholar

Copyright information

© Springer Science+Business Media Dordrecht 1992

Authors and Affiliations

  • R. Caen
    • 1
  • S. Colin
    • 2
  1. 1.Département de Génie MécaniqueInstitut National des Sciences Appliquées de ToulouseToulouse, Cedex
  2. 2.Allée du Professeur Camille SoulaInstitut de Mécanique des FluidesToulouseFrance

Personalised recommendations