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A novel optical-based fingertip force sensor, which is integrated into a bio-mimetic finger for robotic and prosthetic manipulation is presented. This is used to obtain tactile information during grasping and manipulation of objects. Unlike most devices the proposed force sensor is free of any electrical and metal components and as such is immune to electromagnetic fields. The sensor is simple and...
The force/torque sensor is an important tool that gives a robot an ability to interact with their usage environments. Calibration is essential for these force/torque sensors to convert the raw sensor values to accurate forces and torques. However, in practice, the multi-axis force/torque sensor requires complex multi-step data processing, because of the coupling effects and nonlinearity of sensors...
Most target grabbing problems have been dealt with by computer vision system, however, computer vision method is not always enough when it comes to the precision contact grabbing problems during the teleoperation process, and need to be combined with the stiffness display to provide more effective information to the operator on the remote side. Therefore, in this paper a more portable stiffness display...
This paper presents a low cost, easy to produce, small tactile sensor system, that can be embedded in a soft material and limited space. In the current implementation, we use a Hall-effect sensor and a magnet to measure the force. One sensor module can measure 3D force vector and temperature. This chip is planted inside a 55 × 55 × 8 mm of the silicon layer. The module has I2C digital output, requiring...
This paper presents a monolithic opto-coupler based force sensor design to detect the contact forces of the fingertip of the artificial hand during grasp process. Effective and precise measurement of the contact force is always a challenge for the humid and temperature varying environment. In this paper, we propose a novel design of force sensor with optical technique. The optical technique is preferred...
In this paper, a new kind of Angle of Attack (AOA) sensor has been designed and calibrated, which is different from the conventional AOA sensor. The sensor is developed using a ball mouse encoder wheel and two Infrared (IR) modules. The system provides a low cost solution to angle of attack measurements with good precision and accuracy. The sensor has been developed for measuring the angle of attack...
In this paper we present a novel automated neuroadaptive approach that can characterize pressure sensitive “skin” deployed on a robot. Both the safety and performance of future co-robots can be greatly enhanced by such sensorized skin, by measuring multiple contact forces with humans and the environment. A challenge that arises with robot skin is the task of calibration to achieve reliable measurements...
The dynamic is very important in cutting detection for integrated force-measuring tool holder. According to the research of dynamic evaluation principle, a new dynamic calibration method which is based on the step response excited by the fracture of marble strips was proposed. The relationship between the real step force and ideal step force was analyzed, which was used to verify the feasibility of...
This paper addresses the development processes of a 3-DOF force sensor for Human-Robot Interaction applications. From Human-Robot Interaction standpoint, the force sensor should have the ability to be easily attached to a robot end-effector and provides the applied force vector's components, including amount and direction. The proposed force sensor uses load cells to identify the amount of applied...
This paper describes an experimental evaluation of a miniature force and torque sensor in robot-assisted minimally invasive surgery (RMIS). A sensor prototype including the mechanical system and sensing electronics is overviewed. A linear square based static decoupling method is introduced, design and use of a newly invented calibration platform is presented. A dynamic loading mechanism to simulate...
This paper presents a torque sensor based on sectional redundant measurements, which can be applied to torque measuring of motor starting, running and stopping. The sensor can withstand an axial force of 1000kg while the interference from the axial load remains low. The maximum range is up to 400Nm. In order to ensure accuracy and rigidity, the entire measuring range is divided into three sections,...
In this paper, we have introduced the development of a low-cost and light-weight three-axes force sensor to be used under small loading forces. The proposed sensor was able to measure applied force by simply using single-axis contact sensors. The force sensor is a combination of 3D printed rigid parts, contact force sensors, signal transmitters, and an Arduino microcontroller. After calibration through...
There has been a lot of research in recreational uses of robots. A robot drawing the portrait of a human face is one such famous task. This makes the robot behavior more human-like and entertaining. There have been several demonstrations of portrait drawing robots in past few years. But the existing techniques can draw only on pre-calibrated and flat surfaces. This paper demonstrates a robot equipped...
The traditional six-dimensional force/torque sensor calibration method requires a lot of precision loading force and can only be off-line calibration. In this paper, to solve the problem, an online calibration and decoupling method based on the shape from motion combined with complex algorithm is proposed. It does not require accurate and redundant loading force information, and have better noise...
In this paper we report on the development of a modular multi-DoF F/T sensor and its use in the implementation of a sensorized object capable of multi-touch detection. The sensor is composed of six 6-axis F/T sensors spatially organized on the faces of a cube. Different calibration methods are presented to directly tackle the coupling phenomena inherent to the spatial organization of the faces and...
This paper presents a novel three-axis force sensor based on optical photo interrupters and integrated with the robot arm STIFF-FLOP (STIFFness controllable Flexible and Learnable Manipulator for Surgical Operations) to measure external interacting forces and torques. The ring-shape bio-compatible sensor presented here embeds the distributed actuation and sensing system of the STIFF-FLOP manipulator...
A customized load cell is developed to quantitatively evaluate the three-dimensional orthodontic actions applied during treatment. The force-torque sensor is part of a platform composed of 14 load cells, each one equipped with 6 strain gauges and interfaced with a tooth. The particular shape of the load cell allows detecting 6 mechanical actions independently that the tooth is subjected to. At the...
Lack of force sensing is one of the most formidable technical challenges in retinal microsurgery. Incorporating high sensitivity force sensing into the ophthalmic tools has the potential to provide the surgeon useful force feedback and to enable safe robotic assistance. This paper presents a new design of a three degrees of freedom force sensing instrument based on fiber Bragg grating sensors. A new...
In this paper, a novel force/torque sensor is presented. The sensor is based on optoelectronic components and therefore its design is relatively simple and reliable. The sensor design make it suitable for the integration in different robotic systems, such as e.g. the fingers of robotic hands. The basic principle and the design of the sensor are described in this paper, along with a specific prototype...
This paper introduces an optical based three axis force sensor which can be integrated with the robot arm of the EU project STIFF-FLOP (STIFFness controllable Flexible and Learnable Manipulator for Surgical Operations) in order to measure applied external forces. The structure of the STIFF-FLOP arm is free of metal components and electric circuits and, hence, is inherently safe near patients during...
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