Abstract
This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.
Highlights
Robotic systems have developed considerably over the last ten years
Our work aims at creating force/torque sensors that are most suitable for integration with a range of robot systems, snake-like and highly redundant arms to measure the with a range of robot systems, snake-like and highly redundant arms to measure the interaction of their individual links with the environment and robot hands to measure forces during interaction of their individual links with the environment and robot hands to measure forces during grasping and manipulation events
Our work aims at creating force/torque sensors that are most suitable for integration with a range of robot systems, snake-like and highly redundant arms to measure the interaction of their individual links with the environment and robot hands to measure forces during grasping and manipulation events
Summary
Robotic systems have developed considerably over the last ten years. New advances in actuators and materials allow the creation of more complex systems capable of conducting more advanced tasks than previously possible. Our work aims at creating force/torque sensors that are most suitable for integration with a range of robot systems, snake-like and highly redundant arms to measure the interaction of their individual links with the environment and robot hands to measure forces during grasping and manipulation events. With a particular interest in medical robotics, we will demonstrate the integration of our sensor with a continuum robot (the STIFF-FLOP arm), which is intended for use during minimally invasive surgery Having such sensors integrated with these types of robots, we can provide physical interaction information such as force and tactile perception in surgical environments during an operation. This study evaluates various properties such as measurement error, repeatability, hysteresis and crosstalk
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