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This paper proposes a force/torque sensor structure that can be easily integrated into 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...
This paper presents a fiber-optic-based contact sensor for the body contact sensing of a flexible manipulator. The developed sensor is capable of providing both the magnitude of applied force and the contact location. A mathematical model of this sensor is developed. A sensor prototype is created and tested to illustrate the sensing principle of the proposed sensor. Sensor design and the fabrication...
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