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A table-shaped tactile sensor for detecting triaxial force on the basis of strain distribution
Jeong Il Lee1, Min-Gyu Kim, Mitsuhiro Shikida
1Department of Micro-Nano Systems Engineering, Nagoya University, Nagoya 464-8603, Japan. lee.jeong-il@f.mbox.nagoya-u.ac.jp.
Abstract:
A slim and flexible tactile sensor applicable to the interaction of human and intelligent robots is presented. In particular, a simple sensing principle for decoupling of three-dimensional force is proposed. Sensitivity of the proposed tactile sensor is tested experimentally. To improve the sensitivity of the sensor, a table-shaped sensing element was designed. Table-shaped structure can convert an external acting force into concentrated internal stress. A "triaxial force decoupling algorithm" was developed by combining two-dimensional mapping data calculated by finite element analysis. The sensor was calibrated under normal and tangential forces. The external loads applied to the sensor could be decoupled independently as a function of the strain-gauge responses.
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