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
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;
Conference_Titel :
Robotics and Automation, 1999. Proceedings. 1999 IEEE International Conference on
Conference_Location :
Detroit, MI
Print_ISBN :
0-7803-5180-0
DOI :
10.1109/ROBOT.1999.774030
