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A Miniature Elastic Torque Sensor for Index Finger Exoskeletons
IEEE Transactions on Instrumentation and Measurement, 2023Force/torque control of the hand exoskeleton has been proven to be more effective for stroke rehabilitation than its position control. However, the existing torque sensors used for small-scale exoskeletons still have limited performance. In this article,
Jingang Jiang, Ziwen Gao, Guotao Li
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Six-Dimensional Force/Torque Sensor Based on Fiber Bragg Gratings With Low Coupling
IEEE transactions on industrial electronics (1982. Print), 2021In this article, we present a fiber Bragg grating (FBG) based 6-D force/torque (F/T) sensor that can be mounted on robot joints for the detection of comprehensive F/T information. The sensor is designed based on a new concept of multilayer measurement in
Li Xiong +5 more
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Bias Estimation and Gravity Compensation for Wrist-Mounted Force/Torque Sensor
IEEE Sensors Journal, 2022Robot force-controlled task executions require an accurate perception of the contact force/torque. When a six-axis force/torque (F/T) sensor is attached to the robot wrist, the compensation precision is affected by many non-contact features, such as the ...
Yongqiang Yu, Ran Shi, Y. Lou
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Modeling for Elastomer Displacement Analysis of Capacitive Six-Axis Force/Torque Sensor
IEEE Sensors Journal, 2022Estimation of elastomer displacements is crucial for predicting the capacitance variation and studying the sensing performance of capacitive six-axis force/torque(F/T) sensors.
Minghui Pu +3 more
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Design and Hysteresis Modeling of a Miniaturized Elastomer-Based Clutched Torque Sensor
IEEE Transactions on Instrumentation and Measurement, 2022Elastic torque sensors have been widely used for small-scale robots such as hand exoskeletons to achieve torque control. However, designing a miniaturized and lightweight elastic torque sensor with human–machine interaction safety is still a challenge ...
Ning Sun, Long Cheng, Xiuze Xia
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Design and Optimization of a Joint Torque Sensor for Lightweight Robots
IEEE Sensors Journal, 2021Force detection is an important indicator of a robot’s interaction with the working environment. Therefore, accurate and sensitive torque sensor design and development are important. This study proposed a robot joint torque sensor design and optimization
Dai-Dong Nguyen, C. Kuo
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A Low-Cost, Compact, Sealed, Three-Axis Force/Torque Sensor for Walking Robots
IEEE Sensors Journal, 2021Ensuring both feasibility and reliability when measuring forces and torques in legged robots is challenging. Different transducer technologies and structural designs can be used to develop force/torque sensors with multiple measurement axes, high ...
Peter Billeschou +3 more
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Design and Calibration of a Joint Torque Sensor for Robot Compliance Control
IEEE Sensors Journal, 2021Compliance control is one way to achieve compliance for rigid robots and is widely used in cooperative robots, lightweight robots, and exoskeleton robots.
B. Fu, Ganwei Cai
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IEEE transactions on industrial electronics (1982. Print), 2021
The conventional force sensors suffer from dimension coupling and energy problems. In this article, a cardan-type self-decoupled and self-powered bending moment and torque sensor were proposed, analyzed, fabricated, and tested.
Yisong Tan, Xinyu Wang, Limin Ren
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The conventional force sensors suffer from dimension coupling and energy problems. In this article, a cardan-type self-decoupled and self-powered bending moment and torque sensor were proposed, analyzed, fabricated, and tested.
Yisong Tan, Xinyu Wang, Limin Ren
semanticscholar +1 more source