Design of a Novel Six-Axis Wrist Force Sensor

Hu, Shanshan; Wang, Huaiyang; Wang, Yong; Liu, Zhengshi

doi:10.3390/s18093120

Cited by 30 publications

(12 citation statements)

References 18 publications

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“…For example, S 12 indicates the reading provided by SG F x when F y is applied. corresponding error in [25] was 7.7%, which implies that our modified Timoshenko equation is superior. This structure is then tested to quantify the cross-talk errors generated by Equation (18) as shown in Table 3.…”

Section: Comparison Of Numerical Solution With Analytical Solutionmentioning

confidence: 85%

“…When M y = 30 Nm, the largest error was 2.51%. The corresponding error in [25] was 7.7%, which implies that our modified Timoshenko equation is superior.…”

Section: Comparison Of Numerical Solution With Analytical Solutionmentioning

confidence: 87%

“…This equation was selected as a reference in the present study because of the use of double parallel strain gauges [23]. In contrast to most single-and serial-based studies [17,[24][25][26], the present study used an strain gauge (DY43-3/350) from Hottinger Baldwin Messtechnick (HBM) as a transducer, with its resistance being 350 Ω. The attachment positions of the strain gauges are determined on the basis of three considerations: the maximum strain, isotropy of the material involved, and prevention of non-linearity [15].…”

Section: Strain Gauge Arrangementsmentioning

confidence: 99%

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Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Lin

Ahmad

Kebede

2020

Sensors

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In this study, a novel six-axis force/moment (F/M) sensor was developed. The sensor has a novel ring structure comprising a cross-beam elastic body with sliding and rotating mechanisms to achieve complete decoupling. The unique sliding and rotating mechanisms can reduce cross-talk effects caused by minimized structural interconnection. The forces Fx, Fy, and Fz and moments Mx, My, and Mz can be measured for the six-axis F/M sensors according to the elastic deformation of strain gauges attached to the cross beam. Herein, we provide detailed descriptions of the mathematical models, model idealizations, model creation, and the mechanical decoupling principle. The paper also presents a theoretical analysis of the strain based on Timoshenko beam theory and the subsequent validation of the analysis results through a comparison of the results with those obtained from a numerical analysis conducted using finite element analysis simulations. The sensor was subjected to experimental testing to obtain the maximum cross-talk errors along the following six axes under different loadings (the errors are presented in parentheses): Fx under SMy (2.12%), Fy under SMx (1.88%), Fz under SMz (2.02%), Mx under SFz (1.15%), My under SFx (1.80%), and Mz under SFx (2.63%). The proposed sensor demonstrated a considerably improved cross-talk error performance compared with existing force sensors.

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Section: Comparison Of Numerical Solution With Analytical Solutionmentioning

confidence: 85%

“…When M y = 30 Nm, the largest error was 2.51%. The corresponding error in [25] was 7.7%, which implies that our modified Timoshenko equation is superior.…”

Section: Comparison Of Numerical Solution With Analytical Solutionmentioning

confidence: 87%

Section: Strain Gauge Arrangementsmentioning

confidence: 99%

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Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Lin

Ahmad

Kebede

2020

Sensors

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“…The sensor comprises of a sensor tip, an upper cover, a base frame and elastic elements. Hu et alpresented a novel elastic element design method of a six-dimensional F/T sensor with a floating beam that changing the floating beam to H-beam to increase the stiffness of the sensor and improve the dynamic performance [34] . Songet al proposed an improved mechanical structure of elastomer design for threedimensional force sensor miniaturization, which combines the cross beam and central straight beam to achieve the sensation of 3 dimensional forces, shown in Figure 12.…”

Section: Figurementioning

confidence: 99%

Multi-dimensional force sensor for haptic interaction: a review

Song

2019

Virtual Reality & Intelligent Hardware

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Haptic interaction plays an important role in the virtual reality technology, which let a person not only view the 3D virtual environment but also realistically touch the virtual environment. As a key part of haptic interaction, force feedback has become an essential function for the haptic interaction. Therefore, multi-dimensional force sensors are widely used in the fields of virtual reality and augmented reality. In this paper, some conventional multi-dimensional force sensors based on different measurement principles, such as resistive, capacitive, piezoelectric, are briefly introduced. Then the mechanical structures of the elastic body of multi-dimensional force sensors are reviewed. It is obvious that the performance of the multi-dimensional force sensor is mainly dependent upon the mechanical structure of elastic body. Furthermore, the calibration process of the force sensor is analyzed, and problems in calibration are discussed. Interdimensional coupling error is one of the main factors affecting the measurement precision of the multi-dimensional force sensors. Therefore, reducing or even eliminating dimensional coupling error becomes a fundamental requirement in the design of multi-dimensional force sensors, and the decoupling state-of-art of the multi-dimensional force sensors are introduced in this paper. At last, the trends and current challenges of multi-dimensional force sensing technology are proposed.

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“…distributed along the body undergoing deformation [27,28]. This can cause communication bandwidth problems since a large data transmission between strain gauges and the main microcontroller is required, which can lead to unwanted lengthy delays in data transfer as well as higher power consumption.…”

Section: 4mentioning

confidence: 99%

Design, Fabrication and Calibration of Compliant, Multi-Axis, Fiber-Optic Force/Torque Sensors for Biomechanical Measurements

Al-Mai¹

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Design of a Novel Six-Axis Wrist Force Sensor

Cited by 30 publications

References 18 publications

Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Novel Mechanically Fully Decoupled Six-Axis Force-Moment Sensor

Multi-dimensional force sensor for haptic interaction: a review

Design, Fabrication and Calibration of Compliant, Multi-Axis, Fiber-Optic Force/Torque Sensors for Biomechanical Measurements

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