Miniaturized Optical-based Force Sensors for Tendon-driven Robots
In this paper, an innovative sensor based on optoelectronic components and compliant frames for the measurement of the tendon tension is presented. With respect to conventional solutions for force sensing, like strain-gauge or Bragg-grating based force sensors, this sensor presents several advantages, mainly in terms of compactness, simplicity of the implementation and conditioning electronics. The proposed sensor exploits the properties of optoelectronic components with a narrow angle of view to measure the very small deformation of a compliant frame caused by the tendon tension. The sensor can be placed at the tendon ends as such as in any position along the tendon. The paper reports the basic working principle and a simplified procedure for the design of the sensor frame together with the results of an experimental testbench where a couple of the proposed sensors are use for the feedback control of a tendon-driven robotic joint.
Tendon Transmission Force Sensors Force Feedback Robotic Hands
G. Palli S. Pirozzi
Dipartimento di Elettronica,Informatica e Sistemistica Universit(a) di Bologna 40136 Bologna,Italy Dipartimento di Ingegneria dellInformazione Seconda Universit(a) degli Studi di Napoli 81031 Aversa
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
5344-5349
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）