Note: A compact three-axis optical force/torque sensor using photo-interrupters

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By integrating four photo-interrupters in a cross-shaped structure, we developed a compact three-axis optical force/torque (F/T) sensor. The developed sensor has a diameter of 28 mm and a thickness of 7 mm. Despite simplicity and compactness, the experiments with a prototype of the proposed sensor demonstrate notably high accuracy. The RMS errors are 0.5% +/- 0.1% of the maximum vertical force in z-axis, 1.9% +/- 0.2% of the maximum torque in x-axis, and 2.0% +/- 0.3% of the maximum torque in y-axis. It is expected that the proposed sensor allows cost-effective integration of robot systems requiring compact and multi-axis F/T sensors such as a walking assist robot.
Publisher
AMER INST PHYSICS
Issue Date
2013-12
Language
English
Article Type
Article
Keywords

DESIGN

Citation

REVIEW OF SCIENTIFIC INSTRUMENTS, v.84, no.12

ISSN
0034-6748
DOI
10.1063/1.4827683
URI
http://hdl.handle.net/10203/189487
Appears in Collection
ME-Journal Papers(저널논문)
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