Title :
A Novel Four Degree-of-Freedom Wrist Force/Torque Sensor with Low Coupled Interference
Author :
Song, Aiguo ; Wu, Juan ; Li, Jianqing ; Zeng, Qingjun ; Huang, Weiyi
Author_Institution :
Dept. of Instrum. Sci. & Eng., Southeast Univ., Nanjing
Abstract :
A novel four degree-of-freedom (4 DOF) wrist force/torque sensor is developed, which is mechanically decoupled. This type of wrist force/torque sensor is different from ordinary mechanically decoupled ones. It has a simple structure and small coupled interference or noise. It is easy to process and calibrate, and low in cost. This paper introduces the elastic body structure of the wrist force/torque sensor, and analyses the mechanically decoupled principle in detail
Keywords :
elasticity; force sensors; elastic body structure; four degree-of-freedom wrist force sensor; low coupled interference; mechanically decoupled sensor; torque sensor; Capacitive sensors; Force measurement; Force sensors; Interference; Mechanical sensors; Medical robotics; Robot sensing systems; Service robots; Torque; Wrist; coupled interference; elastic body; wrist force/torque sensor;
Conference_Titel :
Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on
Conference_Location :
Beijing
Print_ISBN :
1-4244-0258-1
Electronic_ISBN :
1-4244-0259-X
DOI :
10.1109/IROS.2006.282022
