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Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics
2016
Sensors
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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]
2017
Humanoid Robotics: A Reference
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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
2020
IEEE Access
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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
2007
Second Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (WHC'07)
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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
2008
IEEE robotics & automation magazine
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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
2009
2009 IEEE International Conference on Robotics and Automation
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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
2020
Zenodo
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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
2013
Measurement Science Review
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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
2011
IFAC Proceedings Volumes
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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
2019
Sensors
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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
2019
Sensors
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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
2010
Sensors
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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
2021
Sensors
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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
1994
Robotica (Cambridge. Print)
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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
2007
Earth, Planets and Space
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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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