Multiparameter Remote Contact Force Sensor With Embedded Bend Sensing for Tendon-Driven Hand Robots

Integrating multiple sensors without increasing the structural complexity and their original form factor is a major concern in robotic applications, particularly in tendon-driven systems. This study proposes a multiparameter contact force sensor with bend sensing by utilizing an improved Bowden cabl...

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Bibliographic Details
Published inIEEE/ASME transactions on mechatronics Vol. 29; no. 1; pp. 557 - 566
Main Authors Kim, Sang-Hun, Jeong, Useok, Cho, Kyu-Jin
Format Journal Article
LanguageEnglish
Published New York IEEE 01.02.2024
The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects
Bowden cable
Complexity
Contact force
contact force sensor
Elastomers
Electric contacts
End effectors
flexible sensor
Force
Form factors
Mechanical sensors
Remote sensing
Remote sensors
Robot sensing systems
Robotics
Robots
Sensor phenomena and characterization
Sensors
Sheaths
soft wearable robot
tendon-driven robot
Tendons
Wires
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Summary:Integrating multiple sensors without increasing the structural complexity and their original form factor is a major concern in robotic applications, particularly in tendon-driven systems. This study proposes a multiparameter contact force sensor with bend sensing by utilizing an improved Bowden cable design. The proposed sensor consists of an end tip with an elastomer membrane, a Bowden cable consisting of a sheath and dual inner wires, and a remotely separated sensing component. The electrical wirings are decoupled from the mechanical Bowden cable system. The displacement difference between the force-sensing and bend-sensing wires is transmitted through the sheath, indicating the contact force on the end tip. The modeling and experiments verify that the contact force applied on the end tip is linearly related to the sensor output signal and is reliable after repeated measurements. The proposed sensor, utilizing the flexible Bowden cable as its sensing modality, can be integrated into a diverse range of tendon-driven robotic applications. These applications include a robotic hand with tactile and angle sensing capabilities, as well as a soft wearable robot for the hand (Exo-glove Poly II). The compact form factor of the proposed sensor enables geometric sensing without increasing structural complexity for multiparameter sensing in robotic applications.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2023.3281062