Evaluation of robot force sensor structure using singular value decomposition.

Uchiyama, Masaru; Nakamura, Yoshihiro; Hakomori, Kyojiro

doi:10.7210/jrsj.5.4

Cited by 27 publications

(6 citation statements)

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“…We use the quantitative evaluation method proposed by Uchiyama (16) and Nakamura (17) to evaluate the performance of the force/moment sensor in this paper. Relational expression between applied load matrix f and corresponding strain matrix ε is described below by strain compliance matrix C .…”

Section: Evaluation Methods Of Force/moment Sensormentioning

confidence: 99%

Proposal of Structural Optimization Method for a Six-Axis Force/Moment Sensor Attached to a Prosthetic Limb

Hayashi

Tsujiuchi

Koizumi

et al. 2011

JSDD

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Since the number of trans-femoral amputees has increased by industrial or traffic accidents in modern society, the demand for a prosthetic limb has also increased year after year. In this case, loads applied to a prosthetic limb are important indices for contact relation and position relation to the human body. However, conventional systems cannot measure long continuous walking motion of amputees under a wide range of environmental conditions. Moreover, conventional structural optimization method for a multi-axis force/moment sensor has not been put into practical use. In this paper, we developed a six-axis force/moment sensor that can be attached to a prosthetic limb and improved performance of this sensor by a new practical structural optimization method. The developed sensor in the present study can be easily fixed between the artificial knee joint and the prosthetic foot to detect the load condition during walking. We used finite element analysis, response surface method and desirability function as proposed techniques for multi-objective structural optimization in three-dimensional space. As results in the present study, we optimized the structure of this sensor and validated the effectiveness of optimum design variables and the proposed techniques.

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Section: Evaluation Methods Of Force/moment Sensormentioning

confidence: 99%

Proposal of Structural Optimization Method for a Six-Axis Force/Moment Sensor Attached to a Prosthetic Limb

Hayashi

Tsujiuchi

Koizumi

et al. 2011

JSDD

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“…1 [18], [19], as per the authors' knowledge, wagon wheel spring structure was never has been come to the attention of researchers.…”

Section: Proposed Designmentioning

confidence: 99%

Design and simulation of MEMS based 5-DOF tactile force sensor

Udayanga

Jayathilaka

Amarasinghe

et al. 2016

2016 Moratuwa Engineering Research Conference (MERCon)

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This paper describes design and simulation of five degrees of freedom (5-DOF) Micro-Electro-Mechanical systems (MEMS) based tactile force sensor. Tactile sensing involves with measuring physical parameters such as force, temperature, etc. with the aid of physical touch. Over the past decades tactile sensors are gaining popularity over non-contact sensors in biomedical and robotic applications. Proposed sensor design with 3mm x 3mm x 300µm dimensions, has the capability to measure not only the magnitude but also the direction of the force applied. A wagon wheel spring structure was proposed, where 8 beams work as springs to relief the force applied. Behavior of these 8 beams are monitored under each loading conditions using defused piezoresistive sensing elements. A finite element analysis of structure was performed to optimize and validate the structure and Multiphysics analysis was performed to validate the working principal of the proposed sensor.

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“…Thus, for ideal performance in multi-axis load cells, equal detection accuracies are required for each force component, and any errors should be corrected by calibration. One well-known method for evaluating such sensor performance is based on singular value decomposition (SVD) (Uchiyama et al, 1991b). This method represents the performance as a matrix condition number that expresses the relationship between the applied forces and the measured strains.…”

Section: Objective Function For Multi-axis Load Cellmentioning

confidence: 99%

“…Certain mathematical techniques are required to evaluate the performance of C s . One method for mathematically analyzing C s has been proposed in (Uchiyama et al, 1991b) based on the SVD method (Golub and Van Loan, 1996). The SVD of C s is obtained as:…”

Section: Objective Function For Multi-axis Load Cellmentioning

confidence: 99%

“…In automotive development, six-axis force transducers are required when measuring the values of the force components applied to wheels (Weiblen and Hofmann, 1998). These multi-axis load cells are also used in robotic manipulators in factory automation engineering (Kaneko, 1996;Kim and Lee, 2003;Uchiyama et al, 1991b;Park and Kim, 2005), with sensors composed of sensing devices such as strain gauges and force transducer structures. The transducer structures convert the forces applied to the sensor's measuring point into strains that are then detected by the sensing devices.…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Topology optimization for designing strain-gauge load cells

Takezawa

Nishiwaki

Kitamura

et al. 2010

Struct Multidisc Optim

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Load cells are used extensively in engineering fields. This paper describes a novel structural optimization method for single-and multi-axis load cell structures. First, we briefly explain the topology optimization method that uses the solid isotropic material with penalization (SIMP) method. Next, we clarify the mechanical requirements and design specifications of the single-and multi-axis load cell structures, which are formulated as an objective function. In the case of multi-axis load cell structures, a methodology based on singular value decomposition is used. The sensitivities of the objective function with respect to the design variables are then formulated. On the basis of these formulations, an optimization algorithm is constructed using finite element methods and the method of moving asymptotes (MMA). Finally, we examine the

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Evaluation of robot force sensor structure using singular value decomposition.

Cited by 27 publications

References 0 publications

Proposal of Structural Optimization Method for a Six-Axis Force/Moment Sensor Attached to a Prosthetic Limb

Proposal of Structural Optimization Method for a Six-Axis Force/Moment Sensor Attached to a Prosthetic Limb

Design and simulation of MEMS based 5-DOF tactile force sensor

Topology optimization for designing strain-gauge load cells

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