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

Abstract

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.

A Contact Force Sensor Based on S-Shaped Beams and Optoelectronic Sensors for Flexible Manipulators for Minimally Invasive Surgery (MIS)

“…Despite all of the remarkable progress in the development for the flexible manipulators, sensing modalities which recognise physical conditions in the body and/or which detects the manipulator's shape and posture have not been fully realised. Whereas legacy manipulators provide their location information to some extent, they do not feedback information about touch and precise force exertion, which are critical for protecting vital organs against potential damages [19][20].…”

“…Recently, state-of-the-art flexible manipulators [23][24][25][26][27][28] have integrated various sensing modalities such as shape and stretch sensing units, tactile sensing units and multi-axis force/torque sensors. For example, the continuum manipulators are integrated with light intensity modulation based fibre optic sensors to measure force/torque [19,23] as well as the manipulators' shape [29] based on stretch sensing elements [49]. The fibre-optic sensors can be designed to provide a high sensing resolution and sensitivity, at a relatively low-cost.…”

A Force-Sensing System on Legs for Biomimetic Hexapod Robots Interacting with Unstructured Terrain

“…The measurement range depends on the weight and motion type of the robot. Measurement accuracy is determined by the control requirement of actual motion [ 28 ]. The force sensing system can provide overloaded protection.…”

Robotic Surgery, Is It the Future?

“…New robotic technologies may produce cheaper systems and new developments such as haptic and tactile sensing and force feedback technology could potentially solve one of the real drawbacks of robotic surgery [5,10,11]. Emergence of competitive companies may indeed contribute to tackling the high cost issue.…”