A miniaturized optical force sensor for tendon-driven mechatronic systems: Design and experimental evaluation

Palli, Gianluca; Pirozzi, Salvatore

doi:10.1016/j.mechatronics.2012.09.005

Cited by 48 publications

(13 citation statements)

References 32 publications

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“…In [21] the movements induced on a compliant structure by external forces and torques along 6 axes are detected by exploiting multiple Photodetectors and a single LED light source. Sensors based on the use of discrete optoelectronic components for the measurements of the tendon force have been implemented in [22,23].…”

Section: Related Workmentioning

confidence: 99%

A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications

Hosseini

Meattini

Palli

et al. 2017

Journal of Robotics

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The preliminary experimental study toward the implementation of an arm rehabilitation device based on a twisted string actuation module is presented. The actuation module is characterized by an integrated force sensor based on optoelectronic components. The adopted actuation system can be used for a wide set of robotic applications and is particularly suited for very compact, light-weight, and wearable robotic devices, such as wearable rehabilitation systems and exoskeletons. Thorough presentation and description of the proposed actuation module as well as the basic force sensor working principle are illustrated and discussed. A conceptual design of a wearable arm assistive system based on the proposed actuation module is presented. Moreover, the actuation module has been used in a simple assistive application, in which surface-electromyography signals are used to detect muscle activity of the user wearing the system and to regulate the support action provided to the user to reduce his effort, showing in this way the effectiveness of the approach.

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Section: Related Workmentioning

confidence: 99%

A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications

Hosseini

Meattini

Palli

et al. 2017

Journal of Robotics

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“…Our proposed methods have advantages such as immunity to electrical noise, low power consumption, low-level noise, no need for electronic filtering, easy attachment into the sensor body, and low cost [40,41,42,43,44,45]. In addition, recent technological advances allow diminutive sized photo sensor (1.0 × 1.4 × 0.6 mm 3 ) [46].…”

Section: Introductionmentioning

confidence: 99%

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics

Noh

Bimbo

Sareh

et al. 2016

Sensors

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This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.

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“…In [19][20], single-axis force and torque sensors were proposed and integrated into robots. In [21][22], tension sensors were integrated into tendon mechanisms for force control. A multi-axis force/torque sensor was proposed by [23][24] for applying stiffness control in each of the joints, and also integrated itself in the structure which provides ample space in the centre to facilitate cables and pipes through the sensor structure.…”

Section: Introductionmentioning

confidence: 99%

“…A multi-axis force/torque sensor was proposed by [23][24] for applying stiffness control in each of the joints, and also integrated itself in the structure which provides ample space in the centre to facilitate cables and pipes through the sensor structure. The advantages of the use of optoelectronics are its immunity to electrical noise, low power consumption, low-level noise, no need for any electronic filtering, and low cost [22]. In addition, cutting edge technology allows photo sensors to be miniaturised.…”

Section: Introductionmentioning

confidence: 99%

A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam

Noh

Bimbo

Stilli

et al. 2016

2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves integrally with a simply-supported beam. The proposed mechanical structure allows for a variety of shapes on the mechanical structure to be easily adaptable to many robot applications. In this paper, we present a five-axis force/torque sensor based on this optoelectronic principle. To measure force/torque components, two identical three-DoF force/torque sensor structures (comprised of three beams) are mounted on top of each other. Photo sensors and mirrors are fixed inside the structure to measure the six beam deflections. In this paper, we describe the sensor structure, design, fabrication, calibration, and verify our sensor development methodology.

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A miniaturized optical force sensor for tendon-driven mechatronic systems: Design and experimental evaluation

Cited by 48 publications

References 32 publications

A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications

A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications

Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics

A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and simply-supported beam

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