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Related Experiment Videos

Towards Scalable Strain Gauge-Based Joint Torque Sensors.

Hamza Khan1,2, Mariapaola D'Imperio3, Ferdinando Cannella4

  • 1The Institute for Medical Science and Technology, University of Dundee, Dundee DD1 4HN, UK. h.y.khan@dundee.ac.uk.

Sensors (Basel, Switzerland)
|August 19, 2017
PubMed
Summary

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A novel square-cut torque sensor (SCTS) offers improved linearity and symmetry for robotics applications. This scalable design simplifies strain gauge integration in confined spaces, enhancing joint torque measurement capabilities.

Area of Science:

  • Robotics and Mechanical Engineering
  • Sensor Technology
  • Materials Science

Background:

  • Strain gauge-based joint torque sensors are crucial for robotics but face integration challenges in small spaces due to complex gluing and wiring.
  • Existing designs lack scalability and present difficulties in assembly within restricted joint geometries.
  • Accurate torque measurement is essential for advanced robotics research and development.

Purpose of the Study:

  • To introduce a novel, scalable, and easily integrated mono-axial torque sensor design.
  • To address the limitations of traditional strain gauge sensor integration in compact robotic joints.
  • To present a torque sensor with enhanced linearity and symmetry for robotics.

Main Methods:

  • Development of a novel square-cut torque sensor (SCTS) design.
Keywords:
joint torque controlstrain gauges sensortorque sensor

Related Experiment Videos

  • Utilized finite element modeling (ANSYS) for simulation and analysis.
  • Conducted load testing experiments to validate simulation data.
  • Evaluated sensor performance across variations in size, material, and geometric parameters.

    • Main Results:

    • The SCTS demonstrated high linearity and symmetry in both clockwise and counterclockwise torque measurements.
    • Finite element modeling and experimental data confirmed the sensor's performance.
    • Scalability in size and measuring range was validated through performance studies.
    • Successful implementation of the SCTS within the hip joints of a miniaturized quadruped robot (MiniHyQ).

    Conclusions:

    • The square-cut torque sensor (SCTS) offers a significant advancement for torque measurement in robotics, particularly in space-constrained applications.
    • The SCTS design facilitates easier strain gauge application and wiring, overcoming common integration hurdles.
    • The sensor's high performance, scalability, and successful integration into a quadruped robot highlight its practical utility and potential for future robotic systems.