Development of a capacitive-type 6-axis force-torque sensor

研究成果: Conference contribution

抄録

Force sensing is a crucial task for robots, especially when end effectors such as fingers and hands need to interact with unknown environments; to sense such forces, a force-torque (F/T) sensor is an essential component. In this paper, we propose a small-sized 6-axis F/T sensor with a novel arrangement of 12 transducers using the force transducer we have previously developed. The copper beryllium used in our sensor reduces hysteresis in each transducer. Additionally, the sensor provides digital output via I2C bus to reduce the susceptibility to noise, and reduce the number of required wires. Sensor characteristics such as its sensitivity, signal-to-noise ratio, linearity, and hysteresis are determined. More importantly, we showed that our sensor can detect and measure the 6-axis F/T.

本文言語English
ホスト出版物のタイトルIEEE SENSORS 2017 - Conference Proceedings
出版社Institute of Electrical and Electronics Engineers Inc.
ページ1-3
ページ数3
ISBN(電子版)9781509010127
DOI
出版ステータスPublished - 2017 12 21
イベント16th IEEE SENSORS Conference, ICSENS 2017 - Glasgow, United Kingdom
継続期間: 2017 10 302017 11 1

出版物シリーズ

名前Proceedings of IEEE Sensors
2017-December
ISSN(印刷版)1930-0395
ISSN(電子版)2168-9229

Other

Other16th IEEE SENSORS Conference, ICSENS 2017
CountryUnited Kingdom
CityGlasgow
Period17/10/3017/11/1

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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