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Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics

Yohan Noh, Joao Bimbo, Sina Sareh, Helge Wurdemann, Jan Fraś, Damith Chathuranga, Hongbin Liu, James Housden, Kaspar Althoefer, Kawal Rhode
2016 Sensors  
This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology.  ...  This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication,  ...  Acknowledgments: The research leading to these results has received funding from the European Commission's Seventh Framework Programme; project STIFF-FLOP (Grant No. 287728), and has received funding from  ... 
doi:10.3390/s16111936 pmid:27869689 pmcid:PMC5134595 fatcat:uo4vrqzgubalzd6guclqf33nfi

Multi-Axis Force-Torque Sensor [chapter]

Jung-Hoon Kim
2017 Humanoid Robotics: A Reference  
As a core sensor for measuring strain, strain gauge is generally used. In this section, knowledge on strain sensors and theory of measurement will be introduced.  ...  Introduction Six-axis force-torque sensor can measure full degree of freedom of the applied force vector: 3 components of force and 3 components of torque simultaneously which is applied on the sensor  ... 
doi:10.1007/978-94-007-7194-9_104-1 fatcat:3wxft75rubc55jnmjvjbqcjtne

3D Printed Low-Cost Force-Torque Sensors

Norman Hendrich, Florens Wasserfall, Jianwei Zhang
2020 IEEE Access  
We present tested example designs for sensors of different complexity, from a basic one-dimensional deflecting beam to six-axis sensors with custom shapes.  ...  Based on off-the-shelf optical sensors embedded into deformable structures, sensitivity and load capacity can be selected from a wide range.  ...  SMALL SIX-AXIS FORCE/TORQUE SENSORS This section describes a six-axis force-torque sensor based on a planar configuration of six photointerrupters.  ... 
doi:10.1109/access.2020.3007565 fatcat:6krckntchbgnnfumczfykf63aq

Development of a Whole-Sensitive Teleoperated Robot Arm using Torque Sensing Technique

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, Naoki Kawakami
2007 Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)  
In this paper, we concentrate on the design of a new whole-sensitive robot arm enabling torque measurement in each joint by means of developed optical torque sensors.  ...  The detailed design procedure of the 4-DOF robot arm and optical torque sensors is described in the paper.  ...  The main issue here is the cost of the commercially available compact force/torque sensors providing redundant information for the case of only one-axis moment measurement.  ... 
doi:10.1109/whc.2007.39 dblp:conf/haptics/TsetserukouTKK07 fatcat:d3enq32o2bgejp5eu4uihv4jji

Telemanipulator for remote minimally invasive surgery

U. Hagn, T. Ortmaier, R. Konietschke, B. Kubler, U. Seibold, A. Tobergte, M. Nickl, S. Jorg, G. Hirzinger
2008 IEEE robotics & automation magazine  
Additionally, we thank the company BrainLAB and the Bavarian Research Foundation (BFS) for substantial funding of the robot described in this article.  ...  Acknowledgments We gratefully acknowledge the financial support by the German Research Foundation (DFG) as this project was funded within the Collaborative Research Center SFB 453 ''High-Fidelity Telepresence and  ...  Most systems comprising a force-torque sensing modality focus on only one of these states (see the following section).  ... 
doi:10.1109/mra.2008.929925 fatcat:2zgdidsr5bgxbi4upy2slpjgw4

Design and calibration of a microfabricated 6-axis force-torque sensor for microrobotic applications

F. Beyeler, S. Muntwyler, B.J. Nelson
2009 2009 IEEE International Conference on Robotics and Automation  
This work describes the design of a capacitive multi-axis force-torque sensor for the monitoring of forces in the sub-milli-Newton and sub-micro-Newtonmeter range.  ...  This force range makes it a valuable tool for microrobotic applications. The sensor is experimentally investigated and calibrated.  ...  For a full six-axis force sensor six position measurement would be sufficient, therefore one of the z-axis measurements is redundant.  ... 
doi:10.1109/robot.2009.5152253 dblp:conf/icra/BeyelerMN09 fatcat:o7bptn6sqrcgzgmjtmfo3z37fe

Experimental Validation of a Wrench Virtual Sensor for Impedance-Controlled Robots

Loris Roveda, Andrea Bussolan, Francesco Braghin, Dario Piga
2020 Zenodo  
wrench, implementing a 6D virtual sensor based on the design of an Extended Kalman Filter (EKF).  ...  While standard force controllers require force/torque measurements to close the loop, most of the industrial manipulators do not have installed force/torque sensor(s).  ...  Virtual sensors have been proposed based on highperformance dynamic model calibration [4] .  ... 
doi:10.5281/zenodo.4781024 fatcat:bwj3oci2orfcbl56pu2x6jumum

Decoupling Analysis of a Sliding Structure Six-axis Force/Torque Sensor

Bo Wu, Ping Cai
2013 Measurement Science Review  
This paper analyzes the decoupling of a sliding structure six-axis force/torque sensor, which is used to measure the interactive force between surgical tools and soft tissue for the establishment of soft-tissue  ...  In the calibration test, the expanded uncertainty of the calibration device is evaluated and the calibration results validate the good decoupling.  ...  For a more direct acquisition of the force signal, the design of some sensors is based on mechanical structure decoupling of the elastic body.  ... 
doi:10.2478/msr-2013-0028 fatcat:775rvh3s7vf3pnirm4lrenlpbi

Wind Turbine Fault Detection Using Counter-Based Residual Thresholding

Ahmet Arda Ozdemir, Peter Seiler, Gary J. Balas
2011 IFAC Proceedings Volumes  
The performance of the developed algorithm is evaluated on a model of a commercial sized 4.8MW wind turbine.  ...  Fault residuals are generated through physically redundant sensors, parity equations and common filtering methods. Up-down counters are used for decisioning on these fault residuals.  ...  Second, the aerodynamic torque input, τ aero , to this model depends on unreliable wind speed measurements. Wind speed sensors have large measurement errors and require frequent calibration.  ... 
doi:10.3182/20110828-6-it-1002.01758 fatcat:ce372vsgl5ft7cryhr6y6vusa4

Indirect Force Control of a Cable-Driven Parallel Robot: Tension Estimation using Artificial Neural Network trained by Force Sensor Measurements

Piao, Kim, Choi, Moon, Choi, Park, Kim
2019 Sensors  
Furthermore, cable force control is implemented based on the compensated tensions to evaluate the performance of the CDPR in wrench space.  ...  In a cable-driven parallel robot (CDPR), force sensors are utilized at each winch motor to measure the cable tension in order to obtain the force distribution at the robot end-effector.  ...  In Section 4, the force and position control algorithms based on ANN are explained. Section 5 shows the experimental results of the ANN-based cable force control in a Mini CDPR.  ... 
doi:10.3390/s19112520 fatcat:uanrqgkryrfffjpqa6palczvny

A Novel Telemetry System for Real Time, Ship Main Propulsion Power Measurement

Michał Bonisławski, Marcin HOŁUB, Tadeusz Borkowski, Przemysław Kowalak
2019 Sensors  
The non-stationary (rotating) part receives the necessary energy using the wireless transmission and performs the torque and speed measurement using strain gauge and a special setup of the wireless energy  ...  Such unit was installed on a ferry and operation was monitored for several sea trips.  ...  Conflicts of Interest: The authors declare no conflict of interest.  ... 
doi:10.3390/s19214771 fatcat:ccezzmkgrrdufgct3b7bt327dq

Sensing Pressure Distribution on a Lower-Limb Exoskeleton Physical Human-Machine Interface

Stefano Marco Maria De Rossi, Nicola Vitiello, Tommaso Lenzi, Renaud Ronsse, Bram Koopman, Alessandro Persichetti, Fabrizio Vecchi, Auke Jan Ijspeert, Herman Van der Kooij, Maria Chiara Carrozza
2010 Sensors  
This paper presents the new sensor and its characterization, and the development of an interaction measurement apparatus, which is applied to a lower-limb rehabilitation robot.  ...  The system is calibrated, and an example its use during a prototypical gait training task is presented.  ...  Acknowledgements The authors would like to thank Francesco Giovacchini, Jan Osmers and Maxime Guilleux for their precious help in the finite element analyses.  ... 
doi:10.3390/s110100207 pmid:22346574 pmcid:PMC3274101 fatcat:3zd4miscn5ghxh4kyswghbda4m

Shaping the Design Features of a Dynamometer for Measuring Resistance Biaxial Components of Symmetrical Coulters

Jacek Marcinkiewicz, Mikołaj Spadło, Zaneta Staszak, Jarosław Selech
2021 Sensors  
The article also presents the characteristics of the transducer calibration process and a description of a special test stand designed for this purpose.  ...  and a broad measurement range.  ...  The design process was performed based on simulation methods. The finite element method was used, which enabled effective selection of adequate cross-sections for the employed construction elements.  ... 
doi:10.3390/s22010272 pmid:35009815 pmcid:PMC8749627 fatcat:cjnodpgb7zauddohajtybrqnku

A tactile sensor based on thin-plate deformation

R.E. Ellis, S.R. Ganeshan, S.J. Lederman
1994 Robotica (Cambridge. Print)  
Here, we consider how to sense the length and mass of a uniform object that is gripped in a gravitational field, and show the design and assessment of a new kind of tactile sensor that is based on the  ...  Features of this design include its potentially rugged realization, and its high-accuracy measurement that is more typical of force sensors than of tactile sensors.  ...  of Ontario, and the federal government under the Institute for Robotics and Intelligent Systems (which is a National Centres of Excellence programme).  ... 
doi:10.1017/s0263574700017367 fatcat:fq6gwhjxbrdqzkds4sz56r4h6a

Automation of absolute measurement of the geomagnetic field

H. U. Auster, M. Mandea, A. Hemshorn, E. Pulz, M. Korte
2007 Earth, Planets and Space  
In contrast to the standard DI-Flux measurement procedure our automation approach is based on the rotation of a three-component fluxgate magnetometer about precisely monitored axes without using a non-magnetic  ...  The design of the facility is presented, and mechanical, optical and magnetic limitations are discussed.  ...  For all the support we got for the design and  ... 
doi:10.1186/bf03352041 fatcat:dpmly5eolvalnpeot4kccxa2f4
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