DocumentCode
2912857
Title
New sensors for new applications: force sensors for human/robot interaction
Author
Lorenz, William Andrew ; Peshkin, Michael A. ; Colgate, J. Edward
Author_Institution
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
Volume
4
fYear
1999
fDate
1999
Firstpage
2855
Abstract
Conventional force sensors are overdesigned for use in measuring human force inputs, such as is needed in research and application of human/robot interaction. A new type of force sensor is introduced that is suited to human-robot interaction. This sensor is based on optoelectronic measurements rather than strain gauges. Criteria for material selection and dimensioning are given, and results for linearity, noise, and drift are reported
Keywords
force control; force sensors; man-machine systems; optoelectronic devices; robots; compliance matrix; dimensioning; drift; force sensors; human robot interaction; linearity; noise; optoelectronic device; Capacitive sensors; Force control; Force measurement; Force sensors; Human robot interaction; Optoelectronic and photonic sensors; Robot kinematics; Robot sensing systems; Robotic assembly; Strain measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location
Detroit, MI
ISSN
1050-4729
Print_ISBN
0-7803-5180-0
Type
conf
DOI
10.1109/ROBOT.1999.774030
Filename
774030
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