Paper Info
Title
Miniaturized optical-based force sensors for tendon-driven robots
Abstract
In this paper, an innovative sensor based on optoelectronic components and compliant frames for the measurement of the tendon tension is presented. With respect to conventional solutions for force sensing, like strain-gauge or Bragg-grating based force sensors, this sensor presents several advantages, mainly in terms of compactness, simplicity of the implementation and conditioning electronics. The proposed sensor exploits the properties of optoelectronic components with a narrow angle of view to measure the very small deformation of a compliant frame caused by the tendon tension. The sensor can be placed at the tendon ends as such as in any position along the tendon. The paper reports the basic working principle and a simplified procedure for the design of the sensor frame together with the results of an experimental testbench where a couple of the proposed sensors are use for the feedback control of a tendon-driven robotic joint.
Year
DOI
Venue
2011
10.1109/ICRA.2011.5979970
Robotics and Automation
Keywords
Field
DocType
compliant mechanisms,dexterous manipulators,elastic deformation,feedback,force sensors,optical sensors,compliant frames,deformation,feedback control,miniaturized optical-based force sensor,optoelectronic components,sensor frame design,tendon tension measurement,tendon-driven robotic joint,Force Feedback,Force Sensors,Robotic Hands,Tendon Transmission
Compliant mechanism,Robotic hand,Control theory,Control engineering,Electronic engineering,Electronics,Engineering,Narrow angle,Robot,Haptic technology,Tendon
Conference
Volume
Issue
ISSN
2011
1
1050-4729
ISBN
Citations 
PageRank 
978-1-61284-386-5
6
0.57
References 
Authors
11
2
Name
Order
Citations
PageRank
Gianluca Palli126829.98
Salvatore Pirozzi211215.28