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[ pdf ] FORCE SENSORS FOR HUMANROBOT INTERACTION

FORCE SENSORS FOR HUMANROBOT INTERACTION Download
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Topic under  Force Sensors
Source: www.mech.northwestern.edu 
File size: 104.04 KB
File type: pdf
Last download on: Fri Dec 15, 2017 11:33:23 AM
Short Desciption:
Contribution Existing commercial designs for multi-axis force sensors are very expensive, providing a disincentive to their routine and abundant use in human/robot interaction ...

Summary:
A new force sensor design was described in this paper. It is much cheaper and easier to construct than existing commercial force sensors. The reduced degrees of freedom (two or three in contrast to six) allows a different class of flexures to be used, two of which are mentioned above. These flexures have a diagonal compliance matrix. The greater allowable compliance in human/robot applications makes new simpler and cheaper force sensors possible. In addition it allows the use of new types of sensors. The force sensor described above allows measurement of forces in a plane. It is insensitive to other force components. These force components do not significantly bend the flexure, thus they do not have to be measured and then cancelled. The designs can be modified so that these force components can be very large, and still not break or significantly bend the flexure.
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