Design of a three-dimensional capacitor-based six-axis force sensor for human-robot interaction

He, Zexia; Liu, Tao

doi:10.1016/j.sna.2021.112939

Cited by 22 publications

(6 citation statements)

References 25 publications

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“…A force sensor is a type of physical-electronic signal converter that mimics the receptors embedded in human skin and works to perceive force signals from the external environment [1,2]. For example, three-dimensional force (3D-force) sensors have promising applications in health monitoring [3,4], intelligent robotics [5][6][7][8][9][10], and healthcare [11]. It is characterized by the ability to perceive both normal and tangential forces at the same time, which are often present simultaneously in practical scenarios.…”

Section: Introductionmentioning

confidence: 99%

River valley-inspired, high-sensitivity, and rapid-response capacitive three-dimensional force tactile sensor based on U-shaped groove structure

Xu,

Hong,

et al. 2024

Smart Mater. Struct.

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High-performance three-dimensional force (3D-force) tactile sensors with the capability of distinguishing normal and tangential forces in sync play a vital role in emerging wearable devices and smart electronics. And there is an urgent need for 3D-force tactile sensors with fast response and high flexibility. Herein, we design a capacitive 3D-force tactile sensors inspired by the U-shaped river valley surface morphology, which has satisfactory performance in terms of rapid response/recovery time (∼36 ms/∼ 36 ms), low hysteresis (4.2%), and high sensitivity (0.487 N−1). A theoretical model of general value for congener sensors is also proposed, obtaining a higher sensitivity through optimizing parameters. To verify the application potential of our device in actual scenarios, the robustness testing and gripping gamepad application were carried out. And it can recognize different motions in humans. Furthermore, principal component analysis is also conducted to demonstrate the distinct classification of different motions. Therefore, our work is eligible for the applications in wearable electronics, human–machine interaction, and soft intelligent robots.

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Section: Introductionmentioning

confidence: 99%

River valley-inspired, high-sensitivity, and rapid-response capacitive three-dimensional force tactile sensor based on U-shaped groove structure

Xu,

Hong,

et al. 2024

Smart Mater. Struct.

View full text Add to dashboard Cite

show abstract

“…However, piezoelectric materials are structurally fragile and easily damaged, which results in ageing and fatigue under long-term electromechanical coupling. When a capacitive six-axis force sensor [18][19][20][21][22] is subjected to an external load, the electrode plate of the capacitor produces a spacing change, relative dislocation, or posture deflection, resulting in capacitance charge and discharge. The sensor maps the force/torque of each dimension based on changes in the electrical signal.…”

Section: Introductionmentioning

confidence: 99%

Development and calibration of large deformation-compliant six-axis force sensor

Huang,

Yin,

et al. 2024

Meas. Sci. Technol.

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Improving the measurement accuracy and minimising the coupling between directions are the keys to researching the compliant six-axis force sensors.The use of a six-axis force sensor to accurately monitor the ground reaction force (GRF) and centre of pressure (COP) during human motion is of great significance in the fields of biomechanics and pathological gait diagnosis. Although complete force information can be obtained using a commercial six-axis force sensor, its high stiffness affects the natural gait and easily leads to human fatigue. A compliant six-axis force sensor based on a flexible optical waveguide is proposed, in which the force and torque of six dimensions are detected by reasonably arranging six modular sensing units, and the mechanical decoupling of some dimensions is realised in theory. For the interdimensional coupling and error caused by machining process factors, as well as the nonlinear relationship between the input and output of the proposed compliant six-axis force sensor, a DE-RBF decoupling algorithm is proposed to decouple the calibration data. Compared with the least squares method (LSM) and the radial basis function (RBF) neural network decoupling algorithm, the obtained type-I errors were reduced by 87.7629%, 43.6265%, respectively, and type-II errors by 35.3312%, 56.9162%, respectively. The decoupling result's maximum type-I and type-II errors were reduced from 7.7125% and 2.7382% in LSM and 3.1029% and 2.8917% in RBF to 0.5916% and 0.9558%, respectively. The measurement accuracy of the compliant six-axis force sensor was significantly higher; however, the time effectiveness of the proposed DE-RBF decoupling algorithm was slightly lower than that of the RBF neural network by 2.47%. In conclusion, the decoupling accuracy and timeliness of the proposed DE-RBF decoupling algorithm can satisfy the requirements of compliant six-axis force sensors to monitor low-frequency biomechanical signals, such as human motion.

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“…Interaction with the external environment is a crucial link in the field of robot research, in which the accurate ability of force perception is particularly important. Then, as a key component for the robot to perceive the external environment, the multidimensional force sensor can accurately feedback the force information perceived by the robot to the robot (He and Liu, 2021). Therefore, it is widely used in collaborative robots to achieve interaction force measurement and feedback with the environment.…”

Section: Introductionmentioning

confidence: 99%

A three-dimensional fiber Bragg grating wrist force sensor with separation elastic structure

Sun,

Pang,

Liao

et al. 2024

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Purpose The use of a force sensor to estimate the external force of manipulator not only needs to deal with the signal noise of the sensor itself but also needs to solve the coupling interference of the sensor itself, especially the axial force. The purpose of this paper is to develop a three-dimensional fiber Bragg grating (FBG) wrist force sensor, which has a simple structure and reduces the coupling influence between several axes. Design/methodology/approach A particular separation elastic structure with four FBGs is devised for the three-axial force sensor. One FBG is suspended on the profile of central cylinder and the other three FBGs are pasted on the elastic beam surface of the over and under measuring bodies, respectively. Finite element analysis (FEA) simulation has been implemented to the strain distribution characteristics, the output characteristics of each direction and the coupling effects of the structure. Furthermore, theoretical derivation and experimental results are used to compare, which have a good consistency. Findings The experiment results show that the maximum repeatability error of the sensor is 6.75%, the maximum nonlinear error is 5.36%, the maximum coupling interference is 4.73% and the minimum sensitivity is 1.58 pm/N. Originality/value A three-dimensional force sensor based on FBG adopts a particular separation elastic structure. The sensor can reduce the coupling influence between several axes, especially the coupling interference in the z-direction is 0.

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Design of a three-dimensional capacitor-based six-axis force sensor for human-robot interaction

Cited by 22 publications

References 25 publications

River valley-inspired, high-sensitivity, and rapid-response capacitive three-dimensional force tactile sensor based on U-shaped groove structure

River valley-inspired, high-sensitivity, and rapid-response capacitive three-dimensional force tactile sensor based on U-shaped groove structure

Development and calibration of large deformation-compliant six-axis force sensor

A three-dimensional fiber Bragg grating wrist force sensor with separation elastic structure

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