TY - GEN
T1 - A novel POWERPACK for robotic application, integrated torque sensor, harmonic drive and motor
AU - Kim, Yong Bum
AU - Kim, Uikyum
AU - Seok, Dong Yeop
AU - So, Jinho
AU - Lee, Yoon Haeng
AU - Choi, Hyouk Ryeol
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/12/13
Y1 - 2017/12/13
N2 - Force-sensing system represents one of the vital components of robotic systems for physical interaction performances. This system is facilitated by the force controllable actuators. However, to make a force controllable actuator, it is still a challenging subject for the majority of the robotic system. This paper proposes a novel POWERPACK unit integrated a torque sensor, a harmonic drive and a motor for enabling the force control. The torque sensing element is based on the capacitance sensing to achieve a compact and a simple structure. In this research, reveals the practical details of the POWERPACK and evaluates the performance of the actuator unit.
AB - Force-sensing system represents one of the vital components of robotic systems for physical interaction performances. This system is facilitated by the force controllable actuators. However, to make a force controllable actuator, it is still a challenging subject for the majority of the robotic system. This paper proposes a novel POWERPACK unit integrated a torque sensor, a harmonic drive and a motor for enabling the force control. The torque sensing element is based on the capacitance sensing to achieve a compact and a simple structure. In this research, reveals the practical details of the POWERPACK and evaluates the performance of the actuator unit.
UR - https://www.scopus.com/pages/publications/85041943323
U2 - 10.1109/IROS.2017.8206537
DO - 10.1109/IROS.2017.8206537
M3 - Conference contribution
AN - SCOPUS:85041943323
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 6325
EP - 6330
BT - IROS 2017 - IEEE/RSJ International Conference on Intelligent Robots and Systems
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017
Y2 - 24 September 2017 through 28 September 2017
ER -