On the dynamic behavior of a force/torque sensor for robots

Li, Youfu; Chen, X.B.

doi:10.1109/19.728839

Cited by 69 publications

(26 citation statements)

References 6 publications

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“…13,14 In these methods, the inertial mass of the part of the transducer itself is considered to be the cause of the difference between the static response and the dynamic response of the transducer. However, no impact force traceable to the International System of units ͑SI units͒ is used as the reference force in these methods.…”

Section: Introductionmentioning

confidence: 99%

Measurement of the electrical and mechanical responses of a force transducer against impact forces

Fujii

2006

Review of Scientific Instruments

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A method for measuring the electrical and mechanical responses of force transducers to impact loads is proposed. The levitation mass method (LMM) is used to generate and measure the reference impact force used. In the LMM, a mass that is levitated using an aerostatic linear bearing (and hence encounters negligible friction) is made to collide with the force transducer under test, and the force acting on the mass is measured using an optical interferometer. The electrical response is evaluated by comparing the output signal of the force transducer with the inertial force of the mass as measured using the optical interferometer. Simultaneously, the mechanical response is evaluated by comparing the displacement of the sensing point of the transducer, which is measured using another optical interferometer, with the inertial force of the mass. To demonstrate the efficiency of the proposed method, the impact responses of a force transducer are accurately determined.

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Section: Introductionmentioning

confidence: 99%

Measurement of the electrical and mechanical responses of a force transducer against impact forces

Fujii

2006

Review of Scientific Instruments

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“…This complicates the extraction of individual characteristics of writing pressure. In the case of force sensors such as strain gages, the available bandwidth is limited to several tens of hertz, which means that not all information in the human perception band of DC to 400 Hz is necessarily extracted [7]. Writing pressure information contains components in the whole frequency range, and therefore, more accurate character recognition and personal verification may be made possible by separation of writing pressure data into frequency components, and assessment of the correlation among individuals in every frequency band.…”

Section: Introductionmentioning

confidence: 99%

Character recognition by time–frequency analysis using writing pressure

Watanabe

Katsura

2011

Elect Comm in Japan

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SUMMARYWith the development of information and communication technology, personal verification becomes more and more important. In the future ubiquitous society, the development of terminals handling personal information will require personal verification technology. The signature is one of the personal verification methods; however, the number of characters is limited in the case of the signature and therefore false signatures are easily used. Thus, personal identification from handwriting is difficult. This paper proposes a "haptic pen" that extracts the writing pressure, and shows a character recognition method based on time-frequency analyses. Although the figures of characters written by different writers are similar, the differences appear in the time-frequency domain. As a result, it is possible to use the proposed character recognition for personal identification more exactly. Experimental results show the viability of the proposed method.

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“…Although methods for the dynamic calibration of force transducers are not yet well established, some methods of analyzing the electric and mechanical response of force transducers against impact forces have been proposed [1,2]. In these methods, the inertial mass of the part of the transducer itself is considered to be the cause of the difference between the static response and the dynamic response of the transducer.…”

Section: Introductionmentioning

confidence: 99%

Dynamic Characteristics Measurements of a Force Transducer Against Small and Short-Duration Impact Forces

Djamal¹,

Watanabe²,

Irisa³

et al. 2014

Metrology and Measurement Systems

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A method for evaluating the dynamic characteristics of force transducers against small and short-duration impact forces is developed. In this method, a small mass collides with a force transducer and the impact force is measured with high accuracy as the inertial force of the mass. A pneumatic linear bearing is used to achieve linear motion with sufficiently small friction acting on the mass, which is the moving part of the bearing. Small and short-duration impact forces with a maximum impact force of approximately 5 N and minimum half-value width of approximately 1 ms are applied to a force transducer and the impulse responses are evaluated.

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On the dynamic behavior of a force/torque sensor for robots

Cited by 69 publications

References 6 publications

Measurement of the electrical and mechanical responses of a force transducer against impact forces

Measurement of the electrical and mechanical responses of a force transducer against impact forces

Character recognition by time–frequency analysis using writing pressure

Dynamic Characteristics Measurements of a Force Transducer Against Small and Short-Duration Impact Forces

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