A Novel Six-Axis Force/Torque Sensor for Robotic Applications

This paper presents a novel six-axis force/torque (F/T) sensor for robotic applications that is self-contained, rugged, and inexpensive. Six capacitive sensor cells are adopted to detect three normal and three shear forces. Six sensor cell readings are converted to F/T information via calibrations a...

Full description

Saved in:
Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 22; no. 3; pp. 1381 - 1391
Main Authors Kim, Uikyum, Lee, Dong-Hyuk, Kim, Yong Bum, Seok, Dong-Yeop, Choi, Hyouk Ryeol
Format Journal Article
LanguageEnglish
Published IEEE 01.06.2017
Subjects
Capacitance
Capacitive sensor
Electrodes
Force
Force measurement
low cost
Robot sensing systems
simple manufacturing
six-axis force/torque (F/T) sensor
Online AccessGet full text
ISSN1083-4435
1941-014X
DOI10.1109/TMECH.2016.2640194

Cover

More Information
Summary:This paper presents a novel six-axis force/torque (F/T) sensor for robotic applications that is self-contained, rugged, and inexpensive. Six capacitive sensor cells are adopted to detect three normal and three shear forces. Six sensor cell readings are converted to F/T information via calibrations and transformation. To simplify the manufacturing processes, a sensor design with parallel and orthogonal arrangements of sensing cells is proposed, which achieves the large improvement of the sensitivity. Also, the signal processing is realized with a single printed circuit board and a ground plate, and thus, we make it possible to build a lightweight six-axis F/T sensor with simple manufacturing processes at extremely low cost. The sensor is manufactured and its performances are validated by comparing them with a commercial six-axis F/T sensor.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2016.2640194