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

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

1,* , 2
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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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) which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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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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