A novel reactive-type joint torque sensor with high torsional stiffness for robot applications

Min, Jae Kyung; Ahn, Kuk Hyun; Park, Hui Chang; Song, Jae-Bok

doi:10.1016/j.mechatronics.2019.102265

Cited by 31 publications

(12 citation statements)

References 7 publications

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“…A reactive type, strain joint tore sensor is proposed in a study by Min and his colleagues. This improves the safety performance in comparison to conventional torque sensors without increasing the volume of the joint module (Min et al , 2019). A neural network-based monitoring system was implemented and studied, which detected the operator position in the workspace.…”

Section: Methodsmentioning

confidence: 99%

Technology jump in the industry: human–robot cooperation in production

Dobra

Dhir

2020

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Purpose Recent years have seen a technological change, Industry 4.0, in the manufacturing industry. Human–robot cooperation, a new application, is increasing and facilitating collaboration without fences, cages or any kind of separation. The purpose of the paper is to review mainstream academic publications to evaluate the current status of human–robot cooperation and identify potential areas of further research. Design/methodology/approach A systematic literature review is offered that searches, appraises, synthetizes and analyses relevant works. Findings The authors report the prevailing status of human–robot collaboration, human factors, complexity/ programming, safety, collision avoidance, instructing the robot system and other aspects of human–robot collaboration. Practical implications This paper identifies new directions and potential research in practice of human–robot collaboration, such as measuring the degree of collaboration, integrating human–robot cooperation into teamwork theories, effective functional relocation of the robot and product design for human robot collaboration. Originality/value This paper will be useful for three cohorts of readers, namely, the manufacturers who require a baseline for development and deployment of robots; users of robots-seeking manufacturing advantage and researchers looking for new directions for further exploration of human–machine collaboration.

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Section: Methodsmentioning

confidence: 99%

Technology jump in the industry: human–robot cooperation in production

Dobra

Dhir

2020

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“…Strain gauge sensors are the most used, due to their ease of access and low price, compared with other sensors. Torque is measured by converting a small amount of deformation caused by an external force into an electrical signal, such that collisions with the external environment can be detected using this principle [ 20 , 21 , 22 , 23 , 24 , 25 , 26 , 27 , 28 ]. According to the number of strain gauge sensors applied to the robot arm and their attachment positions, it is possible to detect a collision or reduce manufacturing cost, thereby controlling the sensing performance of external force.…”

Section: Introductionmentioning

confidence: 99%

Development of a Robot Arm Link System Embedded with a Three-Axis Sensor with a Simple Structure Capable of Excellent External Collision Detection

Yun

Lee

Kim

et al. 2022

Sensors

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In order to effectively detect the contact state between the operator and the collaborative robot, a sensor with excellent external force detection performance is needed. The existing force/torque sensor and joint torque sensor, which are the two main external force sensors methods in cooperative robots, have limitations; only the force exerted at the end effector is detected, and it induces a low stiffness in the overall structure which affects the control performance. In the case of sensorless collision detection methods that utilize the current sensor that is used for motor control, the estimation of the performance of external force is sensitive to the sensor noise and dynamic model accuracy only to the extent that it can be used for collision detection. In this paper, we propose a strain gauge-based three-axis sensor of a cylindrical shape, which is often used as a link in a robot. By integrating sensors with robot links, the external force can be precisely measured without compromising the stiffness and is decoupled with joint disturbances, such as motor friction. Sensor calibration is conducted using static load evaluation equipment, and the reliability of collision detection is confirmed by comparing the theoretical/structural analysis results. Through the weight test and sensor characteristic evaluation, the performance and output stability are validated.

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“…Torque sensing and control can be improved by adding a strain gauge-based torque sensor at the load side [3,4]. Although the uncertainty of output dynamics and drivetrain friction can be minimized, extra space is required to accommodate the torque sensor and its related bridge circuit in order to minimize temperature-induced drift.…”

Section: Introductionmentioning

confidence: 99%

Torque-Sensorless Control of Stepper Motors for Low-Cost Compliant Motion Generation

et al. 2021

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Actuators that can generate controllable compliant output motion are suitable for robots that need to interact safely with humans or the environment. To obtain the accurate output torque required to control the compliant motion, existing robotic actuators use one or more sensors to measure the deformation of a stiff or compliant element between the actuator and the output. The complexity, reliability, and cost of sensors are the current challenges. Deformation-based sensing also suffers from limited bandwidth and stability range. This paper proposes a torque-sensorless control method of stepper motors to generate compliant motion. Stepper motors are used because of their low cost and reliability. They also have a much higher torque-to-weight ratio and torque-to-rotor-inertia ratio than other DC motors. Torque and impedance controllers based on stepper motor current feedback are developed. Torque-sensorless impedance, and gripping force control experiments are provided to show the advantages of the proposed method. It is expected that the new control method for stepper motors can offer a competitive alternative when cost, stability, or bandwidth of complaint actuators are the major concerns.

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A novel reactive-type joint torque sensor with high torsional stiffness for robot applications

Cited by 31 publications

References 7 publications

Technology jump in the industry: human–robot cooperation in production

Technology jump in the industry: human–robot cooperation in production

Development of a Robot Arm Link System Embedded with a Three-Axis Sensor with a Simple Structure Capable of Excellent External Collision Detection

Torque-Sensorless Control of Stepper Motors for Low-Cost Compliant Motion Generation

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