Next Article in Journal
A Piezoelectric Plethysmograph Sensor Based on a Pt Wire Implanted Lead Lanthanum Zirconate Titanate Bulk Ceramic
Previous Article in Journal
Automated Signal Processing Applied to Volatile-Based Inspection of Greenhouse Crops
Article Menu

Export Article

Open AccessArticle
Sensors 2010, 10(8), 7134-7145; doi:10.3390/s100807134

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 / Revised: 1 July 2010 / Accepted: 15 July 2010 / Published: 29 July 2010
(This article belongs to the Section Chemical Sensors)
View Full-Text   |   Download PDF [262 KB, uploaded 21 June 2014]   |  

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. View Full-Text
Keywords: force sensing; master-slave robot; mirror-image movement; reaction force force sensing; master-slave robot; mirror-image movement; reaction force
Figures

This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).

Scifeed alert for new publications

Never miss any articles matching your research from any publisher
  • Get alerts for new papers matching your research
  • Find out the new papers from selected authors
  • Updated daily for 49'000+ journals and 6000+ publishers
  • Define your Scifeed now

SciFeed Share & Cite This Article

MDPI and ACS Style

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.

Show more citation formats Show less citations formats

Related Articles

Article Metrics

Article Access Statistics

1

Comments

[Return to top]
Sensors EISSN 1424-8220 Published by MDPI AG, Basel, Switzerland RSS E-Mail Table of Contents Alert
Back to Top