Detection of ground reaction force using a miniaturized inductive displacement sensor

Author

Djuric, Snezana M. ; Nagy, Laszlo F. ; Damnjanovic, Mirjana S.

Author_Institution

Fac. of Tech. Sci., Univ. of Novi Sad, Novi Sad, Serbia

fYear

2010

fDate

6-8 Sept. 2010

Abstract

In this paper, we present a miniaturized version of a previously developed ground reaction force sensor. The sensor is composed of two pairs of meander coils detecting displacement in a plane. One pair of coils determines vertical displacement, proportional to normal force distribution, while the other pair of coils determines horizontal displacement, proportional to tangential force distribution. The advantage of miniaturized sensor is easier implementation in the foot of humanoid robot due to its dimensions. A new simulation tool was developed to accurately calculate the input inductance variation.

Keywords

displacement measurement; force measurement; humanoid robots; inductive sensors; ground reaction force detection; horizontal displacement; humanoid robot; inductance variation; meander coils detecting displacement; miniaturized inductive displacement sensor; normal force distribution; tangential force distribution; Coils; Foot; Force; Inductance; Robot kinematics; Robot sensing systems; measurement; robotics; sensor;

fLanguage

English

Publisher

ieee

Conference_Titel

Power Electronics and Motion Control Conference (EPE/PEMC), 2010 14th International

Conference_Location

Ohrid

Print_ISBN

978-1-4244-7856-9

Type

conf

DOI

10.1109/EPEPEMC.2010.5606521

Filename

5606521