In order to improve safety protection performance of robot hand when the collision happens

at the moment of the touch can achieve emergency stop

to ensure the safety of equipment and personnel

design an electromagnetic servo type high sensitivity impact sensor with inertial measurement

mainly uses the " inertia perception + electromagnetic servo" mode

dynamically eliminate inertial force components

which make collision sensor only responses to the collision force

improve the touch sensitivity of robot hand. Calculation result shows that the collision force is reduced from 24. 73 N to 12. 88 N;compared to traditional collision sensor

its sensitivity is greatly improved. Further improve the safety protection performance of the robot

and has a certain theoretical value and engineering application value.