Journal
IEEE-ASME TRANSACTIONS ON MECHATRONICS
Volume 22, Issue 3, Pages 1381-1391Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TMECH.2016.2640194
Keywords
Capacitive sensor; low cost; simple manufacturing; six-axis force/torque (F/T) sensor
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Funding
- Convergence Technology Development Program for Bionic Arm through the National Research Foundation of Korea - Ministry of Science, ICT and Future Planning [2014M3C1B2048175]
- National Research Foundation of Korea - Ministry of Education [2011-0031143]
- National Research Foundation of Korea [2011-0031143] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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This paper presents a novel six-axis force/torque (F/T) sensor for robotic applications that is self-contained, rugged, and inexpensive. Six capacitive sensor cells are adopted to detect three normal and three shear forces. Six sensor cell readings are converted to F/T information via calibrations and transformation. To simplify the manufacturing processes, a sensor design with parallel and orthogonal arrangements of sensing cells is proposed, which achieves the large improvement of the sensitivity. Also, the signal processing is realized with a single printed circuit board and a ground plate, and thus, we make it possible to build a lightweight six-axis F/T sensor with simple manufacturing processes at extremely low cost. The sensor is manufactured and its performances are validated by comparing them with a commercial six-axis F/T sensor.
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