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

S. Somlor, A. Schmitz, R. S. Hartanto, S. Sugano

研究成果: Conference contribution

5 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2014 IEEE/SICE International Symposium on System Integration, SII 2014
出版社Institute of Electrical and Electronics Engineers Inc.
ページ684-689
ページ数6
ISBN(電子版)9781479969449
DOI
出版ステータスPublished - 2014 1 30
イベント7th IEEE/SICE International Symposium on System Integration, SII 2014 - Tokyo, Japan
継続期間: 2014 12 132014 12 15

出版物シリーズ

名前2014 IEEE/SICE International Symposium on System Integration, SII 2014

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • コンピュータ ネットワークおよび通信
  • 情報システム

フィンガープリント

「A prototype force sensing unit for a capacitive-type force-torque sensor」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル