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Three-Axis Fiber-Optic Body Force Sensor for Flexible Manipulators
IEEE Sensors Journal
This paper proposes a force/torque sensor structure that can be easily integrated with a flexible manipulator structure. The sensor's ring-like structure with its hollow inner section provides ample space for auxiliary components, such as cables and tubes, to be passed through and, hence, is very suitable for integration with tendon-driven and fluid-actuated manipulators. The sensor structure can also accommodate the wiring for a distributed sensor system as well as for diagnostic instrumentsdoi:10.1109/jsen.2015.2488099 fatcat:qjo77c5clje7vntrfiszplhynq