A novel six-axis force/torque sensor for robotic applications

Uikyum Kim; Dong Hyuk Lee; Yong Bum Kim; Dong Yeop Seok; Hyouk Ryeol Choi

doi:10.1109/TMECH.2016.2640194

A novel six-axis force/torque sensor for robotic applications

Uikyum Kim
, Dong Hyuk Lee
, Yong Bum Kim
, Dong Yeop Seok
, Hyouk Ryeol Choi

Department of Mechanical Engineering

Sungkyunkwan University

Research output: Contribution to journal › Article › peer-review

133 Scopus citations

Abstract

This paper presents a novel six-axis force/ torque (F/T) sensor for robotic applications that is selfcontained, rugged, and inexpensive. Six capacitive sensor cells are adopted to detect three normal and three shear forces. Six sensor cell readings are converted to F/T information via calibrations and transformation. To simplify the manufacturing processes, a sensor design with parallel and orthogonal arrangements of sensing cells is proposed, which achieves the large improvement of the sensitivity. Also, the signal processing is realized with a single printed circuit board and a ground plate, and thus, we make it possible to build a lightweight six-axis F/T sensor with simple manufacturing processes at extremely low cost. The sensor is manufactured and its performances are validated by comparing them with a commercial six-axis F/T sensor.

Original language	English
Article number	7784722
Pages (from-to)	1381-1391
Number of pages	11
Journal	IEEE/ASME Transactions on Mechatronics
Volume	22
Issue number	3
DOIs	https://doi.org/10.1109/TMECH.2016.2640194
State	Published - Jun 2017

Keywords

Capacitive sensor
Low cost
Simple manufacturing
Six-axis force/torque (F/T) sensor

UN SDGs

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

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10.1109/TMECH.2016.2640194

Cite this

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title = "A novel six-axis force/torque sensor for robotic applications",

abstract = "This paper presents a novel six-axis force/ torque (F/T) sensor for robotic applications that is selfcontained, rugged, and inexpensive. Six capacitive sensor cells are adopted to detect three normal and three shear forces. Six sensor cell readings are converted to F/T information via calibrations and transformation. To simplify the manufacturing processes, a sensor design with parallel and orthogonal arrangements of sensing cells is proposed, which achieves the large improvement of the sensitivity. Also, the signal processing is realized with a single printed circuit board and a ground plate, and thus, we make it possible to build a lightweight six-axis F/T sensor with simple manufacturing processes at extremely low cost. The sensor is manufactured and its performances are validated by comparing them with a commercial six-axis F/T sensor.",

keywords = "Capacitive sensor, Low cost, Simple manufacturing, Six-axis force/torque (F/T) sensor",

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

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doi = "10.1109/TMECH.2016.2640194",

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AB - This paper presents a novel six-axis force/ torque (F/T) sensor for robotic applications that is selfcontained, rugged, and inexpensive. Six capacitive sensor cells are adopted to detect three normal and three shear forces. Six sensor cell readings are converted to F/T information via calibrations and transformation. To simplify the manufacturing processes, a sensor design with parallel and orthogonal arrangements of sensing cells is proposed, which achieves the large improvement of the sensitivity. Also, the signal processing is realized with a single printed circuit board and a ground plate, and thus, we make it possible to build a lightweight six-axis F/T sensor with simple manufacturing processes at extremely low cost. The sensor is manufactured and its performances are validated by comparing them with a commercial six-axis F/T sensor.

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KW - Simple manufacturing

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A novel six-axis force/torque sensor for robotic applications

Abstract

Keywords

UN SDGs

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