The perception of touch opens new perspectives for so-called ’intelligent robotics’. Force/torque sensors are currently a key component of autonomous assembly processes or of the dynamically developing sector of collaborative robots. Resp...
Strain distributions are crucial criteria of cross-beams six-axis force/torque sensors. The conventional method for calculating the criteria is to utilize Finite Element Analysis (FEA) to get numerical solutions. This paper aims to obtain analytical...
Robotic manipulators physically interacting with their environment must be able to measure contact forces/torques. The standard approach to this end is attaching force/torque sensors directly at the end-effector (EE). This provides accurate measureme...
This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensi...
In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user’s strength, and based on this, wearable robots are controlled. In this paper, we pro...
In this paper, a beam-membrane (BM) sensor for measuring friction torque in micro-electro-mechanical system (MEMS) gas bearings is presented. The proposed sensor measures the force-arm-transformed force using a detecting probe and the piezoresistive...
To address the bottleneck issues of an elastic-style six-axis force/torque sensor (six-axis force sensor), this work proposes a no-elastic piezoelectric six-axis force sensor. The operating principle of the piezoelectric six-axis force sensor is anal...
A novel six-axis force/torque sensor (F/T sensor) for an Experimental Module Manipulator (EMM) in the Chinese Space Station (CSS) is developed in this paper. First, we designed the elastomer structure of the F/T sensor and used the analytical method...
A crucial part of dynamic motions is the interaction with other objects or the environment. Floating base robots have yet to perform these motions repeatably and reliably. Force torque sensors are able to provide the full description of a contact. De...
The realistic representation of deformations is still an active area of research, especially for deformable objects whose behavior cannot be simply described in terms of elasticity parameters. This paper proposes a data-driven neural-network-based ap...
The computational complexity of humanoid robot balance control is reduced through the application of simplified kinematics and dynamics models. However, these simplifications lead to the introduction of errors that add to other inherent electro-mecha...
Six-axis force/torque sensors are widely installed in manipulators to help researchers achieve closed-loop control. When manipulators work in comic space and deep sea, the adverse ambient environment will cause various degrees of damage to F/T sensor...
The performance of a six-axis force/torque sensor (F/T sensor) severely decreased when working in an extreme environment due to its sensitivity to ambient temperature. This paper puts forward an ensemble temperature compensation method based on the w...
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 diff...
Force–torque sensors are used in many and different domains (i.e., space, medicine, biology, etc.). Design solutions of force–torque sensors can be conceived by using many types of connections or components; however, there are only a few...
Recently, due to the development of automation technology, torque measuring and monitoring technologies have been brought to the focus. However, the commercially available sensors have the disadvantage of large volume, which results in the difficulty...
An in situ measurement of micro-friction torque in MEMS gas bearings, which has been a challenging research topic for years, is realized by a system designed in this paper. In the system, a high accuracy micro-force sensor and an electronically-drive...
The six-degree-of-freedom (6-DoF) interaction forces/torque of the tool-end play an important role in the robotic tool manipulation using a gripper, which are usually indirectly measured by a robot wrist force/torque sensor. However, the real-time de...
Real-time multi-axis distributed tactile sensing is a critical capability if robots are to perform stable gripping and dexterous manipulation, as it provides crucial information about the sensor–object interface. In this paper, we present an op...
This paper focuses on peg-in-hole assembly based on a two-phase scheme and force/torque sensor (F/T sensor) for a compliant dual-arm robot, the Baxter robot. The coordinated operations of human beings in assembly applications are applied to the behav...
This study investigates the visual servo control of the space station macro/micro manipulator system. The proposed approach is based on the position-based eye-in-hand visual servo (PBVS) and takes advantage of the hardware sensors to overcome the mac...
In this paper we present a novel, cost-effective camera-based multi-axis force/torque sensor concept for integration into metallic load-bearing structures. A two-part pattern consisting of a directly incident and mirrored light beam is projected onto...
The realistic representation of deformations is still an active area of research, especially for soft objects whose behavior cannot be simply described in terms of elasticity parameters. Most of existing techniques assume that the parameters describi...
A capacitive six-axis force/torque (F/T) sensor has favorable characteristics for miniature design. However, when designing small-sized force/torque sensors, anisotropy among the six axes can lead to uneven sensitivity across each axis. This is due t...
The gripper is the far end of a robotic arm. It is responsible for the contacts between the robot itself and all the items present in a work space, or even in a social space. Therefore, to provide grippers with intelligent behaviors is fundamental, e...
A personal-computer-based and a Raspberry Pi single-board computer-based virtual force sensor with EtherCAT communication for a six-axis robotic arm are proposed in this paper. Both traditional mathematical modeling and machine learning techniques ar...
With the emerging of wearable robots, the safety and effectiveness of human-robot physical interaction have attracted extensive attention. Recent studies suggest that online measurement of the interaction force between the robot and the human body is...
The purpose of this study is to compensate for the hysteresis in a six-axis force sensor using signal processing, thereby achieving high-precision force sensing. Although mathematical models of hysteresis exist, many of these are one-axis models and...
This study proposes a parallel six-axis force/torque sensor decoupling method based on an independent component analysis (ICA), and the experimental platform is built for experimental exploration. First of all, the structural model and mathematical m...
When a robotic manipulator interacts with its environment, the end-effector forces need to be measured to assess if a task has been completed successfully and for safety reasons. Traditionally, these forces are either measured directly by a 6-dimensi...
Assembly tasks executed by a robot have been studied broadly. Robot assembly applications in industry are achievable by a well-structured environment, where the parts to be assembled are located in the working space by fixtures. Recent changes in man...
The aim of this paper is to improve the position accuracy of a six degree of freedom medical robot. The improvement in accuracy is achieved without the use of any external measurement device. Instead, this work presents a novel calibration approach b...
This study introduces a novel calibration method for accurate external wrench measurement using a six-axis FT (force–torque) sensor. We propose a sensor model and calibration method for FT sensors that enable precise separation of the force and...
In the robot contact operation, the robot relies on the multi-dimensional force/torque sensor installed at the end to sense the external contact force. When the effective load and speed of the robot are large, the gravity/inertial force generated by...
This paper presents a control strategy that secures both precision and manipulation sensitivity of remote center motion with direct teaching for a surgical assistant robot. Remote center motion is an essential function of conventional laparoscopic su...
This study investigates the determination of the centre of pressure (COP) on spherical sports objects such as cricket balls and footballs using gyroscope data from Inertial Measurement Units (IMUs). Conventional pressure sensors are not suitable for...
The tiger beetle can maintain its stability by controlling the interaction force between its legs and an unstructured terrain while it runs. The biomimetic hexapod robot mimics a tiger beetle, and a comprehensive force sensing system combined with ce...
This paper presents a planar cable-driven model of a simple mechanism that is able to measure forces and displacements. Recently, a preliminary study based on a cable-driven sensitive mechanism was presented to the research community, underlining the...
This article presents a laboratory device by which the course of two signals can be detected using two types of sensors—strain gauges and the DEWESoft DS-NET measuring apparatus. The values of the coefficient of friction of the brake lining whe...
Wearable sensors are gaining in popularity because they enable outdoor experimental monitoring. This paper presents a cost-effective sensorised insole based on a mesh of tactile capacitive sensors. Each sensor’s spatial resolution is about 4 ta...
Although integrated joint torque sensors in robots dispel the need for external force/torque sensors at the wrist to measure interactions, an inherent challenge is that they also measure the robot’s intrinsic dynamics. This is especially proble...
Tactile sensors can be used to build human-machine interfaces, for instance in isometric joysticks or handlebars. When used as input sensor device for control, questions arise related to the contact with the human, which involve ergonomic aspects. Th...
In order to improve the precision and stability of puncture surgical operations to assist doctors in completing fine manipulation, a new of type puncturing needle sensor is proposed based on a fiber Bragg grating (FBG). Compared with the traditional...
In this paper, we propose a compact force sensor system for a hip-mounted exoskeleton for seniors with difficulties in walking due to muscle weakness. It senses and monitors the delivered force and power of the exoskeleton for motion control and taki...
Various high-performance force/torque sensors have been developed for the purpose of advancing automation systems. However, the demand for simple torque measurement of rotating shafts continues to exist, and expensive multi-axis sensors need not be w...
In recent years, Automated Guided Vehicles (AGVs) have been playing an increasingly important role in producing industry and infrastructure and will soon arrive to other areas of human life such as the transportation of goods and people. However, sev...
The accuracy of aerial work platform weighing is essential for safety. However, in practice, the same weight placed at different locations on the platform can yield varying readings, which is a phenomenon known as eccentric load. Measurement errors c...
In order to effectively detect the contact state between the operator and the collaborative robot, a sensor with excellent external force detection performance is needed. The existing force/torque sensor and joint torque sensor, which are the two mai...
Harmonic force and torque, which are caused by rotor imbalance and sensor runout, are the dominant disturbances in active magnetic bearing (AMB) systems. To eliminate the harmonic force and torque, a novel control method based on repetitive control a...
The biomechanics of a golf swing have been of interest to golfers, instructors, and biomechanists. In addition to the complexity of the three-dimensional (3D) dynamics of multi-segments of body, the closed-chain body posture as a result of both hands...
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