Development of an optoelectronic 6-axis force/torque sensor for robotic applications

Palli, Gianluca; Moriello, Lorenzo; Scarcia, Umberto; Melchiorri, Claudio

doi:10.1016/j.sna.2014.09.023

Cited by 57 publications

(30 citation statements)

References 21 publications

(30 reference statements)

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“…The maximum normal force applicable by each finger in continuous operation is about 150 N, 3) Wrist Force/Torque Sensor: A F/T sensor [28], [29] has been designed and integrated into the gripper wrist interface for controlling the force and the stability of the manipulator interaction, see Fig. 7(a) and 7(b).…”

Section: Maris Grippermentioning

confidence: 99%

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Simetti

Wanderlingh

Torelli

et al. 2018

IEEE J. Oceanic Eng.

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Autonomous Underwater Vehicles are frequently used for survey missions and monitoring tasks, however manipulation and intervention tasks are still largely performed with a human in the loop.Employing autonomous vehicles for these tasks has received a growing interest in the last ten years, and few pioneering projects have been funded on this topic. Among these projects, the Italian MARIS project had the goal of developing technologies and methodologies for the use of autonomous Underwater Vehicle Manipulator Systems in underwater manipulation and transportation tasks. This work presents the developed control framework, the mechatronic integration, and the project's final experimental results on floating underwater intervention.Index Terms underwater vehicle manipulator system; underwater gripper; underwater vision; floating underwater control; task priority control; underwater intervention.

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Section: Maris Grippermentioning

confidence: 99%

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Simetti

Wanderlingh

Torelli

et al. 2018

IEEE J. Oceanic Eng.

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“…It is well known that the elastic structure body and sensitive element are the two key components for a multi-axial force sensor, which are determinant to sensor capability. For elastic structure body, cross beams typed sensing element [2][3][4] and its evolution type [5,6] are most widely used in commercial products and research reports because of their good symmetry, high degree of integration, and easy to be expanded. Parallel mechanisms, especially Stewart platform, are also widely adopted in multi-axis force/torque sensors, for its distinguishing advantages of high rigidity, symmetry and stress decoupling [7][8][9].…”

Section: Introductionmentioning

confidence: 99%

A three-axis force fingertip sensor based on fiber Bragg grating

Guo

Kong

Liu

et al. 2016

Sensors and Actuators A: Physical

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“…Moreover, a sensor based on changing the coupling of optical power between a photodiode and a vertical-cavity surface-emitting laser is presented in [20]. In [21] the movements induced on a compliant structure by external forces and torques along 6 axes are detected by exploiting multiple Photodetectors and a single LED light source. Sensors based on the use of discrete optoelectronic components for the measurements of the tendon force have been implemented in [22,23].…”

Section: Related Workmentioning

confidence: 99%

A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications

Hosseini

Meattini

Palli

et al. 2017

Journal of Robotics

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The preliminary experimental study toward the implementation of an arm rehabilitation device based on a twisted string actuation module is presented. The actuation module is characterized by an integrated force sensor based on optoelectronic components. The adopted actuation system can be used for a wide set of robotic applications and is particularly suited for very compact, light-weight, and wearable robotic devices, such as wearable rehabilitation systems and exoskeletons. Thorough presentation and description of the proposed actuation module as well as the basic force sensor working principle are illustrated and discussed. A conceptual design of a wearable arm assistive system based on the proposed actuation module is presented. Moreover, the actuation module has been used in a simple assistive application, in which surface-electromyography signals are used to detect muscle activity of the user wearing the system and to regulate the support action provided to the user to reduce his effort, showing in this way the effectiveness of the approach.

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Development of an optoelectronic 6-axis force/torque sensor for robotic applications

Cited by 57 publications

References 21 publications

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

Autonomous Underwater Intervention: Experimental Results of the MARIS Project

A three-axis force fingertip sensor based on fiber Bragg grating

A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications

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