TY - GEN
T1 - Development of a capacitive-type 6-axis force-torque sensor
AU - Somlor, S.
AU - Schmitz, A.
AU - Jinsun, H.
AU - Tomo, T. P.
AU - Sugano, S.
N1 - Funding Information:
This research was partially supported by the JSPS Grant-in-Aid for Scientific Research (S) No. 25220005, JSPS Grant-in-Aid for Young Scientists (B) No. 17K18183, NEDO project No. 15657422, and the Research Institute for Science and Engineering of Waseda University.
Funding Information:
ACKNOWLEDGMENT This research was partially supported by the JSPS Grant-in-Aid for Scientific Research (S) No. 25220005, JSPS Grant-in-Aid for Young Scientists (B) No. 17K18183, NEDO project No. 15657422, and the Research Institute for Science and Engineering of Waseda University.
Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/21
Y1 - 2017/12/21
N2 - Force sensing is a crucial task for robots, especially when end effectors such as fingers and hands need to interact with unknown environments; to sense such forces, a force-torque (F/T) sensor is an essential component. In this paper, we propose a small-sized 6-axis F/T sensor with a novel arrangement of 12 transducers using the force transducer we have previously developed. The copper beryllium used in our sensor reduces hysteresis in each transducer. Additionally, the sensor provides digital output via I2C bus to reduce the susceptibility to noise, and reduce the number of required wires. Sensor characteristics such as its sensitivity, signal-to-noise ratio, linearity, and hysteresis are determined. More importantly, we showed that our sensor can detect and measure the 6-axis F/T.
AB - Force sensing is a crucial task for robots, especially when end effectors such as fingers and hands need to interact with unknown environments; to sense such forces, a force-torque (F/T) sensor is an essential component. In this paper, we propose a small-sized 6-axis F/T sensor with a novel arrangement of 12 transducers using the force transducer we have previously developed. The copper beryllium used in our sensor reduces hysteresis in each transducer. Additionally, the sensor provides digital output via I2C bus to reduce the susceptibility to noise, and reduce the number of required wires. Sensor characteristics such as its sensitivity, signal-to-noise ratio, linearity, and hysteresis are determined. More importantly, we showed that our sensor can detect and measure the 6-axis F/T.
KW - 6-axis
KW - capacitive-type
KW - force sensing
KW - force-torque
UR - http://www.scopus.com/inward/record.url?scp=85044260463&partnerID=8YFLogxK
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U2 - 10.1109/ICSENS.2017.8234153
DO - 10.1109/ICSENS.2017.8234153
M3 - Conference contribution
AN - SCOPUS:85044260463
T3 - Proceedings of IEEE Sensors
SP - 1
EP - 3
BT - IEEE SENSORS 2017 - Conference Proceedings
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 16th IEEE SENSORS Conference, ICSENS 2017
Y2 - 30 October 2017 through 1 November 2017
ER -