Journal
IEEE SENSORS JOURNAL
Volume 18, Issue 9, Pages 3632-3639Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/JSEN.2018.2812820
Keywords
Fiber Bragg grating (FBG); 3-D force sensor; robot; plantar force sensing
Funding
- National Natural Science Foundation of China [51605348, 51605344]
- Natural Science Foundation of Hubei Province [2016CFB116]
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This paper presents a three-dimensional (3-D) force sensor based on fiber Bragg grating (FBG) for robot plantar force measuring. A classical Maltese-cross beam with multiplexed FBGs has been designed for 3-D force sensing. Strain distribution characteristics and dynamic performance of the Maltese-cross elastomer have been investigated by using finite element analysis. Through ingenious design, 3-D forces of Fx, Fy, and Fz have been measured by only five sensitive elements of FBG, meanwhile, decoupling and temperature compensation have also been realized, which greatly reduces the number of sensitive element compared with the traditional resistance strain gauge based multi-axis force sensor. Comprehensive performance test has been carried out, and the experimental results demonstrate that the sensor possesses good linearity, weak coupling, and creep resistance.
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