A table-shaped tactile sensor for detecting triaxial force on the basis of strain distribution

J.I. Lee, M. Kim, M. Shikida, K. Sato

    Research output: Contribution to journalArticleAcademicpeer-review

    7 Citations (Scopus)
    89 Downloads (Pure)

    Abstract

    A slim and flexible tactile sensor applicable to the interaction of human and intelligent robots is presented. In particular, a simple sensing principle for decoupling of three-dimensional force is proposed. Sensitivity of the proposed tactile sensor is tested experimentally. To improve the sensitivity of the sensor, a table-shaped sensing element was designed. Table-shaped structure can convert an external acting force into concentrated internal stress. A ¿triaxial force decoupling algorithm¿ was developed by combining two-dimensional mapping data calculated by finite element analysis. The sensor was calibrated under normal and tangential forces. The external loads applied to the sensor could be decoupled independently as a function of the strain-gauge responses.
    Original languageEnglish
    Pages (from-to)16347-16359
    Number of pages13
    JournalSensors
    Volume13
    Issue number12
    DOIs
    Publication statusPublished - 2013

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