A novel capacitive type torque sensor for robotic applications

Yong Bum Kim; Uikyum Kim; Dong Yeop Seok; Jinho So; Hyouk Ryeol Choi

doi:10.1109/AIM.2016.7576899

A novel capacitive type torque sensor for robotic applications

Yong Bum Kim
, Uikyum Kim
, Dong Yeop Seok
, Jinho So
, Hyouk Ryeol Choi

Department of Mechanical Engineering

Sungkyunkwan University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

13 Scopus citations

Abstract

This paper presents a novel capacitive type joint torque sensor for robotic applications. The proposed torque sensor enables to measure the rotational torque value while it decouples the external Force/Torque loads without any complicated computing procedure. To measure the joint torque, just two capacitive transducer cells are used. These two cells are located in the opposite sides of each other, which compensates the cross couplings of the torques when external Force/Torque loads are applied. To simply the manufacturing process, the proposed sensor is designed to be composed of three plate-shaped parts and a single printed circuit board (PCB). Lastly, the developed torque sensor is manufactured and its performances are experimentally demonstrated.

Original language	English
Title of host publication	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	993-998
Number of pages	6
ISBN (Electronic)	9781509020652
DOIs	https://doi.org/10.1109/AIM.2016.7576899
State	Published - 26 Sep 2016
Event	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 - Banff, Canada Duration: 12 Jul 2016 → 15 Jul 2016

Publication series

Name	IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume	2016-September

Conference

Conference	2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016
Country/Territory	Canada
City	Banff
Period	12/07/16 → 15/07/16

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 9 Industry, Innovation, and Infrastructure

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10.1109/AIM.2016.7576899

Cite this

Kim, Y. B., Kim, U., Seok, D. Y., So, J., & Choi, H. R. (2016). A novel capacitive type torque sensor for robotic applications. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 (pp. 993-998). Article 7576899 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2016-September). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/AIM.2016.7576899

@inproceedings{7944c194972c484681bc3fefda54bf22,

title = "A novel capacitive type torque sensor for robotic applications",

abstract = "This paper presents a novel capacitive type joint torque sensor for robotic applications. The proposed torque sensor enables to measure the rotational torque value while it decouples the external Force/Torque loads without any complicated computing procedure. To measure the joint torque, just two capacitive transducer cells are used. These two cells are located in the opposite sides of each other, which compensates the cross couplings of the torques when external Force/Torque loads are applied. To simply the manufacturing process, the proposed sensor is designed to be composed of three plate-shaped parts and a single printed circuit board (PCB). Lastly, the developed torque sensor is manufactured and its performances are experimentally demonstrated.",

author = "Kim, \{Yong Bum\} and Uikyum Kim and Seok, \{Dong Yeop\} and Jinho So and Choi, \{Hyouk Ryeol\}",

note = "Publisher Copyright: {\textcopyright} 2016 IEEE.; 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016 ; Conference date: 12-07-2016 Through 15-07-2016",

year = "2016",

month = sep,

day = "26",

doi = "10.1109/AIM.2016.7576899",

language = "English",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

pages = "993--998",

booktitle = "2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016",

}

Kim, YB, Kim, U, Seok, DY, So, J & Choi, HR 2016, A novel capacitive type torque sensor for robotic applications. in 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016., 7576899, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, vol. 2016-September, Institute of Electrical and Electronics Engineers Inc., pp. 993-998, 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016, Banff, Canada, 12/07/16. https://doi.org/10.1109/AIM.2016.7576899

A novel capacitive type torque sensor for robotic applications. / Kim, Yong Bum; Kim, Uikyum; Seok, Dong Yeop et al.
2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Institute of Electrical and Electronics Engineers Inc., 2016. p. 993-998 7576899 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM; Vol. 2016-September).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

TY - GEN

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AU - Kim, Yong Bum

AU - Kim, Uikyum

AU - Seok, Dong Yeop

AU - So, Jinho

AU - Choi, Hyouk Ryeol

PY - 2016/9/26

Y1 - 2016/9/26

N2 - This paper presents a novel capacitive type joint torque sensor for robotic applications. The proposed torque sensor enables to measure the rotational torque value while it decouples the external Force/Torque loads without any complicated computing procedure. To measure the joint torque, just two capacitive transducer cells are used. These two cells are located in the opposite sides of each other, which compensates the cross couplings of the torques when external Force/Torque loads are applied. To simply the manufacturing process, the proposed sensor is designed to be composed of three plate-shaped parts and a single printed circuit board (PCB). Lastly, the developed torque sensor is manufactured and its performances are experimentally demonstrated.

AB - This paper presents a novel capacitive type joint torque sensor for robotic applications. The proposed torque sensor enables to measure the rotational torque value while it decouples the external Force/Torque loads without any complicated computing procedure. To measure the joint torque, just two capacitive transducer cells are used. These two cells are located in the opposite sides of each other, which compensates the cross couplings of the torques when external Force/Torque loads are applied. To simply the manufacturing process, the proposed sensor is designed to be composed of three plate-shaped parts and a single printed circuit board (PCB). Lastly, the developed torque sensor is manufactured and its performances are experimentally demonstrated.

UR - https://www.scopus.com/pages/publications/84992426179

U2 - 10.1109/AIM.2016.7576899

DO - 10.1109/AIM.2016.7576899

M3 - Conference contribution

AN - SCOPUS:84992426179

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 993

EP - 998

BT - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016

Y2 - 12 July 2016 through 15 July 2016

ER -

Kim YB, Kim U, Seok DY, So J, Choi HR. A novel capacitive type torque sensor for robotic applications. In 2016 IEEE International Conference on Advanced Intelligent Mechatronics, AIM 2016. Institute of Electrical and Electronics Engineers Inc. 2016. p. 993-998. 7576899. (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). doi: 10.1109/AIM.2016.7576899

A novel capacitive type torque sensor for robotic applications

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