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Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors
Department of Intelligent Mechanical Systems Engineering, Kochi University of Technology, 185 Miyanokuchi, Tosayamada-Cho, Kami-City, Kochi 782-8502, Japan
* Author to whom correspondence should be addressed.
Received: 20 June 2010; in revised form: 1 July 2010 / Accepted: 15 July 2010 / Published: 29 July 2010
Abstract: In human-robot cooperative control systems, force feedback is often necessary in order to achieve high precision and high stability. Usually, traditional robot assistant systems implement force feedback using force/torque sensors. However, it is difficult to directly mount a mechanical force sensor on some working terminals, such as in applications of minimally invasive robotic surgery, micromanipulation, or in working environments exposed to radiation or high temperature. We propose a novel force sensing mechanism for implementing force feedback in a master-slave robot system with no mechanical sensors. The system consists of two identical electro-motors with the master motor powering the slave motor to interact with the environment. A bimanual coordinated training platform using the new force sensing mechanism was developed and the system was verified in experiments. Results confirm that the proposed mechanism is capable of achieving bilateral force sensing and mirror-image movements of two terminals in two reverse control directions.
Keywords: force sensing; master-slave robot; mirror-image movement; reaction force
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Liu, T.; Li, C.; Inoue, Y.; Shibata, K. Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors. Sensors 2010, 10, 7134-7145.
Liu T, Li C, Inoue Y, Shibata K. Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors. Sensors. 2010; 10(8):7134-7145.
Liu, Tao; Li, Chunguang; Inoue, Yoshio; Shibata, Kyoko. 2010. "Reaction Force/Torque Sensing in a Master-Slave Robot System without Mechanical Sensors." Sensors 10, no. 8: 7134-7145.