A prototype force sensing unit for a capacitive-type force-torque sensor

Research output: Chapter in Book/Report/Conference proceedingConference contribution

5 Citations (Scopus)

Abstract

Force sensing is a crucial task for robots, especially when the end effectors such as fingers and hands need to interact with an unknown environment, for example in a humanoid robot. In order to sense such forces, a force/torque sensor is an essential component. Many available force/torque sensors are based on strain gauges, but other sensing principles are also possible. In this paper we describe steps towards a capacitive type based sensor. Several MEMS capacitive sensors are described in the literature; however very few larger sensors are available, as capacitive sensors usually have disadvantages such as severe hysteresis and temperature sensitivity. On the other hand, capacitive sensors have the advantage of the availability of small sized chips for sensor readout and digitization. We employ copper beryllium for the transducer, which has been modified from the ones described in the literature to be able to be used in a small sized, robust force/torque sensor. Therefore, as the first step toward the goal of building such a sensor, in this study we have created a prototype sensing unit and have tested its sensitivity. No viscoelastic materials are used for the sensing unit, which usually introduce severe hysteresis in capacitive sensors. We have achieved a high signal-to-noise ratio, high sensitivity and a range of 10 Newton.

Original languageEnglish
Title of host publication2014 IEEE/SICE International Symposium on System Integration, SII 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages684-689
Number of pages6
ISBN (Print)9781479969449
DOIs
Publication statusPublished - 2014 Jan 30
Event7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan
Duration: 2014 Dec 132014 Dec 15

Other

Other7th IEEE/SICE International Symposium on System Integration, SII 2014
CountryJapan
CityTokyo
Period14/12/1314/12/15

Fingerprint

Torque
Capacitive sensors
Sensors
End effectors
Hysteresis
Robots
Beryllium
Analog to digital conversion
Strain gages
MEMS
Transducers
Signal to noise ratio
Availability
Copper
Temperature

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Networks and Communications
  • Information Systems

Cite this

Somlor, S., Schmitz, A., Hartanto, R. S., & Sugano, S. (2014). A prototype force sensing unit for a capacitive-type force-torque sensor. In 2014 IEEE/SICE International Symposium on System Integration, SII 2014 (pp. 684-689). [7028121] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2014.7028121

A prototype force sensing unit for a capacitive-type force-torque sensor. / Somlor, Sophon; Schmitz, Alexander; Hartanto, R. S.; Sugano, Shigeki.

2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., 2014. p. 684-689 7028121.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Somlor, S, Schmitz, A, Hartanto, RS & Sugano, S 2014, A prototype force sensing unit for a capacitive-type force-torque sensor. in 2014 IEEE/SICE International Symposium on System Integration, SII 2014., 7028121, Institute of Electrical and Electronics Engineers Inc., pp. 684-689, 7th IEEE/SICE International Symposium on System Integration, SII 2014, Tokyo, Japan, 14/12/13. https://doi.org/10.1109/SII.2014.7028121
Somlor S, Schmitz A, Hartanto RS, Sugano S. A prototype force sensing unit for a capacitive-type force-torque sensor. In 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc. 2014. p. 684-689. 7028121 https://doi.org/10.1109/SII.2014.7028121
Somlor, Sophon ; Schmitz, Alexander ; Hartanto, R. S. ; Sugano, Shigeki. / A prototype force sensing unit for a capacitive-type force-torque sensor. 2014 IEEE/SICE International Symposium on System Integration, SII 2014. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 684-689
@inproceedings{a914eaa0539349ebaabd76c4ae3387ae,
title = "A prototype force sensing unit for a capacitive-type force-torque sensor",
abstract = "Force sensing is a crucial task for robots, especially when the end effectors such as fingers and hands need to interact with an unknown environment, for example in a humanoid robot. In order to sense such forces, a force/torque sensor is an essential component. Many available force/torque sensors are based on strain gauges, but other sensing principles are also possible. In this paper we describe steps towards a capacitive type based sensor. Several MEMS capacitive sensors are described in the literature; however very few larger sensors are available, as capacitive sensors usually have disadvantages such as severe hysteresis and temperature sensitivity. On the other hand, capacitive sensors have the advantage of the availability of small sized chips for sensor readout and digitization. We employ copper beryllium for the transducer, which has been modified from the ones described in the literature to be able to be used in a small sized, robust force/torque sensor. Therefore, as the first step toward the goal of building such a sensor, in this study we have created a prototype sensing unit and have tested its sensitivity. No viscoelastic materials are used for the sensing unit, which usually introduce severe hysteresis in capacitive sensors. We have achieved a high signal-to-noise ratio, high sensitivity and a range of 10 Newton.",
author = "Sophon Somlor and Alexander Schmitz and Hartanto, {R. S.} and Shigeki Sugano",
year = "2014",
month = "1",
day = "30",
doi = "10.1109/SII.2014.7028121",
language = "English",
isbn = "9781479969449",
pages = "684--689",
booktitle = "2014 IEEE/SICE International Symposium on System Integration, SII 2014",
publisher = "Institute of Electrical and Electronics Engineers Inc.",

}

TY - GEN

T1 - A prototype force sensing unit for a capacitive-type force-torque sensor

AU - Somlor, Sophon

AU - Schmitz, Alexander

AU - Hartanto, R. S.

AU - Sugano, Shigeki

PY - 2014/1/30

Y1 - 2014/1/30

N2 - Force sensing is a crucial task for robots, especially when the end effectors such as fingers and hands need to interact with an unknown environment, for example in a humanoid robot. In order to sense such forces, a force/torque sensor is an essential component. Many available force/torque sensors are based on strain gauges, but other sensing principles are also possible. In this paper we describe steps towards a capacitive type based sensor. Several MEMS capacitive sensors are described in the literature; however very few larger sensors are available, as capacitive sensors usually have disadvantages such as severe hysteresis and temperature sensitivity. On the other hand, capacitive sensors have the advantage of the availability of small sized chips for sensor readout and digitization. We employ copper beryllium for the transducer, which has been modified from the ones described in the literature to be able to be used in a small sized, robust force/torque sensor. Therefore, as the first step toward the goal of building such a sensor, in this study we have created a prototype sensing unit and have tested its sensitivity. No viscoelastic materials are used for the sensing unit, which usually introduce severe hysteresis in capacitive sensors. We have achieved a high signal-to-noise ratio, high sensitivity and a range of 10 Newton.

AB - Force sensing is a crucial task for robots, especially when the end effectors such as fingers and hands need to interact with an unknown environment, for example in a humanoid robot. In order to sense such forces, a force/torque sensor is an essential component. Many available force/torque sensors are based on strain gauges, but other sensing principles are also possible. In this paper we describe steps towards a capacitive type based sensor. Several MEMS capacitive sensors are described in the literature; however very few larger sensors are available, as capacitive sensors usually have disadvantages such as severe hysteresis and temperature sensitivity. On the other hand, capacitive sensors have the advantage of the availability of small sized chips for sensor readout and digitization. We employ copper beryllium for the transducer, which has been modified from the ones described in the literature to be able to be used in a small sized, robust force/torque sensor. Therefore, as the first step toward the goal of building such a sensor, in this study we have created a prototype sensing unit and have tested its sensitivity. No viscoelastic materials are used for the sensing unit, which usually introduce severe hysteresis in capacitive sensors. We have achieved a high signal-to-noise ratio, high sensitivity and a range of 10 Newton.

UR - http://www.scopus.com/inward/record.url?scp=84946688055&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84946688055&partnerID=8YFLogxK

U2 - 10.1109/SII.2014.7028121

DO - 10.1109/SII.2014.7028121

M3 - Conference contribution

AN - SCOPUS:84946688055

SN - 9781479969449

SP - 684

EP - 689

BT - 2014 IEEE/SICE International Symposium on System Integration, SII 2014

PB - Institute of Electrical and Electronics Engineers Inc.

ER -