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Article

Development and Application of a Tandem Force Sensor

State Key Laboratory of Digital Manufacturing Equipment & Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China
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Sensors 2020, 20(21), 6042; https://doi.org/10.3390/s20216042
Received: 2 September 2020 / Revised: 18 October 2020 / Accepted: 20 October 2020 / Published: 23 October 2020
(This article belongs to the Special Issue Human-Robot Collaborations in Industrial Automation)
In robot teaching for contact tasks, it is necessary to not only accurately perceive the traction force exerted by hands, but also to perceive the contact force at the robot end. This paper develops a tandem force sensor to detect traction and contact forces. As a component of the tandem force sensor, a cylindrical traction force sensor is developed to detect the traction force applied by hands. Its structure is designed to be suitable for humans to operate, and the mechanical model of its cylinder-shaped elastic structural body has been analyzed. After calibration, the cylindrical traction force sensor is proven to be able to detect forces/moments with small errors. Then, a tandem force sensor is developed based on the developed cylindrical traction force sensor and a wrist force sensor. The robot teaching experiment of drawer switches were made and the results confirm that the developed traction force sensor is simple to operate and the tandem force sensor can achieve the perception of the traction and contact forces. View Full-Text
Keywords: tandem force sensor; traction force sensor; human–robot interaction; contact task; imitation learning tandem force sensor; traction force sensor; human–robot interaction; contact task; imitation learning
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MDPI and ACS Style

Zhang, Z.; Chen, Y.; Zhang, D. Development and Application of a Tandem Force Sensor. Sensors 2020, 20, 6042. https://doi.org/10.3390/s20216042

AMA Style

Zhang Z, Chen Y, Zhang D. Development and Application of a Tandem Force Sensor. Sensors. 2020; 20(21):6042. https://doi.org/10.3390/s20216042

Chicago/Turabian Style

Zhang, Zhijian, Youping Chen, and Dailin Zhang. 2020. "Development and Application of a Tandem Force Sensor" Sensors 20, no. 21: 6042. https://doi.org/10.3390/s20216042

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