Abstract
This paper presents a two-axis force/torque sensor (one force and one torque) that uses light-intensity modulation techniques to measure the contact force and torque between a robotic finger and an object. The sensor has a diameter of 9 × 10-3 m and a height of 10 × 10-3 m. The sensor incorporates linearly aligned fiber-optic cables, linear polarizers, and nitinol wire strips into a rigid structure made of plastic. The nitinol wire strips allow certain parts of the structure to deform under applied forces. A model of the sensor is presented, and calibration experiments were conducted, validating the model. The sensor was also incorporated into the fingertip of a Barrett Hand, and experiments were conducted on three objects, i.e., a power adapter, a partially filled plastic bottle, and a curved paper punch to identify the sensor's response to different surface profiles. The sensor's data are also compared with data from a Nano17 force and torque sensor, and the results from the two sensors are discussed.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: IEEE Transactions on Instrumentation and Measurement
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
