Dynamic force/torque sensors: theory and experiments

Bicchi, Antonio; Caiti, Andrea; Prattichizzo, Domenico

doi:10.1109/icar.1997.620262

Cited by 10 publications

(2 citation statements)

References 9 publications

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“…At this time we need to consider the effect vibration has on the real strain values. An algorithm seeking for the optimal positions of the strain gauges on the sensing part of the force sensing device was presented by Bicchi [6,13]. Based on this research, we can locate the optimal position of the strain gauges that can reduce the effects of vibration [8].…”

Section: Optimal Location Of the Strain Gaugesmentioning

confidence: 99%

“…The methods of looking for contact location and evaluating the force and moment at the interface had been mentioned in their research. The optimal location problem had been considered for a 1D model with one and two strain gauges [5,6]. Kim et al developed a structure of a six-axis force/moment sensor with rectangular taper beams for an intelligent robot's wrist and ankle [7].…”

Section: Introductionmentioning

confidence: 99%

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An enhanced force and contact position sensor for micro-manipulations

Phung

Ihn

et al. 2009

Int. J. Control Autom. Syst.

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In micro-manipulations, force sensing devices play an important role in the control and the assembly of micro-objects. To protect these micro-objects from damage, we must have the ability to detect the value of the minute amount of interactive force (about a few µN) upon contact between the tip and the object. To detect this micro-force, we need an optimized design of force sensor to increase the strain values at the positions we place sensing components. Stress concentration can effectively amplify the strain values measured by the force sensors. This paper investigates the effect that the notches have on increasing the strain values at the positions we attach the sensing elements. In addition, the optimal design with a flexible structure improves the sensitivity of the sensor. An algorithm that can calculate both contact force and contact position on the sensor tip is also mentioned. Besides, an optimal location of strain gauges will ensure the accuracy and stability of the measurement. Finally, analysis and experiment are done to verify the proposed idea.

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Section: Optimal Location Of the Strain Gaugesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

An enhanced force and contact position sensor for micro-manipulations

Phung

Ihn

et al. 2009

Int. J. Control Autom. Syst.

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Optimal design of dynamic multi-axis force/torque sensor

Bicchi

Caiti

Prattichizzo

Proceedings of the 38th IEEE Conference on Decision and Control (Cat. No.99CH36304)

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The measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among force/torques and measurement gauges are available. Within this framework, it is possible in particular to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces; torques and point of contact applied to a flexible beam with a rigid part.

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Development of a mechanically coupled, six degree-of-freedom load platform for biomechanics and sports medicine

Krouglicof

Alonso

Keat

2004 IEEE International Conference on Systems, Man and Cybernetics (IEEE Cat. No.04CH37583)

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Dynamic force/torque sensors: theory and experiments

Cited by 10 publications

References 9 publications

An enhanced force and contact position sensor for micro-manipulations

An enhanced force and contact position sensor for micro-manipulations

Optimal design of dynamic multi-axis force/torque sensor

Development of a mechanically coupled, six degree-of-freedom load platform for biomechanics and sports medicine

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