Design of a miniature force sensor based on photointerrupter for robotic hand

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In this paper, we propose a small, low cost force sensor based on a commercially available photointerrupter for use in a tendon-driven robotic hand. The proposed sensor consists of a photointerrupter and an elastic frame and is designed to measure tendon tension. Using the design methodology presented in this paper, the force sensor can be made small enough (4 mm × 6 mm × 10 mm) to be inserted into a robotic fingertip and made able to measure a large allowable force (approximately 200 N) with low non-linearity (1.85%) and low hysteresis (1.19%). Due to the characteristics of the photointerrupter, it is possible to overcome the disadvantages associated with traditional miniature force sensors and to have very high resolution (0.1 N) over the entire measurement range (0–200 N). To verify feasibility, we performed force feed-back control using a prototype of the sensor. Experimental results show that the proposed sensor has comparable performance to commercial force sensors of similar size and can be manufactured more simply and economically.
Publisher
ELSEVIER SCIENCE SA
Issue Date
2018-01
Language
English
Article Type
Article
Keywords

PROSTHETIC HAND; SYSTEMS

Citation

SENSORS AND ACTUATORS A-PHYSICAL, v.269, pp.444 - 453

ISSN
0924-4247
DOI
10.1016/j.sna.2017.11.052
URI
http://hdl.handle.net/10203/238749
Appears in Collection
ME-Journal Papers(저널논문)
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