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Sensors 2013, 13(12), 16347-16359; doi:10.3390/s131216347
Article

A Table-Shaped Tactile Sensor for Detecting Triaxial Force on the Basis of Strain Distribution

1,* , 2
,
1
 and
3
1 Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603, Japan 2 Department of Industrial Design, Eindhoven University of Technology, AZ Eindhoven 5612, The Netherlands 3 Department of Mechanical Engineering, Aichi Institute of Technology, Aichi 470-0392, Japan
* Author to whom correspondence should be addressed.
Received: 26 September 2013 / Revised: 2 November 2013 / Accepted: 14 November 2013 / Published: 28 November 2013
(This article belongs to the Section Physical Sensors)
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Abstract

A slim and flexible tactile sensor applicable to the interaction of human and intelligent robots is presented. In particular, a simple sensing principle for decoupling of three-dimensional force is proposed. Sensitivity of the proposed tactile sensor is tested experimentally. To improve the sensitivity of the sensor, a table-shaped sensing element was designed. Table-shaped structure can convert an external acting force into concentrated internal stress. A “triaxial force decoupling algorithm” was developed by combining two-dimensional mapping data calculated by finite element analysis. The sensor was calibrated under normal and tangential forces. The external loads applied to the sensor could be decoupled independently as a function of the strain-gauge responses.
Keywords: tactile sensor; table-shaped structure; decoupling of triaxial force tactile sensor; table-shaped structure; decoupling of triaxial force
This is an open access article distributed under the Creative Commons Attribution License (CC BY 3.0).
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Lee, J.I.; Kim, M.-G.; Shikida, M.; Sato, K. A Table-Shaped Tactile Sensor for Detecting Triaxial Force on the Basis of Strain Distribution. Sensors 2013, 13, 16347-16359.

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