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Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics

Noh, Y; Bimbo, J; Sareh, S; Wurdemann, H; Fraś, J; Chathuranga, DS; Liu, H; ... Rhode, K; + view all (2016) Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics. Sensors , 16 (11) , Article 1936. 10.3390/s16111936. Green open access

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Abstract

This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption, (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges), (3) the ability to be embedded into different mechanical structures, (4) miniaturisation, (5) simple manufacture and customisation to fit a wide-range of robot systems, and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human-robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.

Type: Article
Title: Multi-Axis force/torque sensor based on Simply-Supported beam and optoelectronics
Open access status: An open access version is available from UCL Discovery
DOI: 10.3390/s16111936
Publisher version: http://dx.doi.org/10.3390/s16111936
Language: English
Additional information: Copyright © 2016 by the authors; licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC-BY) license (http://creativecommons.org/licenses/by/4.0/).
Keywords: force/torque sensor; multi-axis force/torque; optoelectronic sensors; light intensity optics
UCL classification: UCL
UCL > Provost and Vice Provost Offices
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Mechanical Engineering
URI: https://discovery.ucl.ac.uk/id/eprint/1532023
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