Miniaturized multiaxial force/torque sensor with a rollable hexapod structure

Matich, Sebastian; Hessinger, Markus; Kupnik, Mario; Werthschützky, Roland; Hatzfeld, Christian

doi:10.1515/teme-2017-0046

Cited by 10 publications

(5 citation statements)

References 7 publications

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“…The HEX 21 resistive, 6-axis force and torque sensor (Ø21 mm, ± 50 N force, ± 500 mNm torque) developed by Matich et al [27] and manufactured by Wittenstein (Wittenstein SE, Igersheim, DE), referred to in the following as force sensor, is used to record the magnitude and direction of the interaction force. In addition to the sensor, the manufacturer also supplies associated evaluation electronics which samples with a frequency of 1 kHz at a resolution of 12 bit.…”

Section: Interaction Force Measurementmentioning

confidence: 99%

Measuring interaction forces in surgical telemanipulation using conventional instruments

et al. 2022

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Minimally invasive surgery (MIS) has been an essential tool in the surgical sector for many years due to its crucial advantages compared to open surgery. To overcome remaining limitations, teleoperated MIS experienced a strong emergence. However, the widespread usage of such systems is hindered by the enormous financial hurdle. The use of standard components and conventional tools for teleoperated MIS can facilitate integration into existing hospital workflows and can be a cost-efficient and versatile approach for research purposes. To compensate for the lack of haptic feedback, some teleoperation setups inherit a sensor system allowing them to record interaction forces and display them at the user interface. In research and in commercially available systems, different positions for the sensor can be found. In this paper, mechanical interfaces for the guidance and actuation of non-wristed and wristed standard instruments are presented. Furthermore, a method for the extracorporeal measurement of interaction forces is presented, characterized, and discussed. The overall mean relative error of the magnitude of the interaction force is 9.4%, while the overall mean absolute error of the force vector is 14.4 $^{\circ }$ , both below the respective human differential perception threshold. The presented measurement method is a simple, yet sufficiently accurate approach to measure interaction forces in surgical telemanipulation.

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Section: Interaction Force Measurementmentioning

confidence: 99%

Measuring interaction forces in surgical telemanipulation using conventional instruments

et al. 2022

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“…To separate the parameters, a different angle format can be used for the orientation error model, Equation (14), as an extension to Equation ( 12)…”

Section: Measurement Modelmentioning

confidence: 99%

“…When modelled by rotation matrix, Equation ( 15), the parameters are not identifiable as the mathematical representation is too close to the rigid body gravity model in Equation (3). Figure 3 Including orientation-dependent force errors, based on a different orientation representation, leads to the model 4, Equation (14), and model 5, Equation (15), which allows for the identification of mass and centre of gravity with correct physical meaning, where model 5 describes the effect with less parameters.Still, the correlation between these parameters is a physical fact that cannot be completely overcome by a different modelling for quasi-static measurements so that the uncertainties stay high, as can be seen in Figure 3 centre.…”

Section: Model and Identifiability Analysismentioning

confidence: 99%

“…Integrated torque sensors in joints [7] still require large mechanical and modelling efforts (friction, stick-slip) and are not advantageous for the desired application in parallel structures and kinematics, where mainly longitudinal forces appear. Concerning the use of rigid Stewart or hexapod structures as force sensors, the most promising works with practical results are a multicomponent calibration system [8,9], a sensor for heavy duty applications [10][11][12], miniaturised sensors, for example, for surgery [13,14], and a measuring system for industrial applications [15]. Still, all of these sensors have been designed as pure (machine independent) measuring devices with static calibration.…”

Section: Introductionmentioning

confidence: 99%

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Model Calibration for a Rigid Hexapod-Based End-Effector with Integrated Force Sensors

Friedrich

Ihlenfeldt

2021

Sensors

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Integrated single-axis force sensors allow an accurate and cost-efficient force measurement in 6 degrees of freedom for hexapod structures and kinematics. Depending on the sensor placement, the measurement is affected by internal forces that need to be compensated for by a measurement model. Since the parameters of the model can change during machine usage, a fast and easy calibration procedure is requested. This work studies parameter identification procedures for force measurement models on the example of a rigid hexapod-based end-effector. First, measurement and identification models are presented and parameter sensitivities are analysed. Next, two excitation strategies are applied and discussed: identification from quasi-static poses and identification from accelerated continuous trajectories. Both poses and trajectories are optimized by different criteria and evaluated in comparison. Finally, the procedures are validated by experimental studies with reference payloads. In conclusion, both strategies allow accurate parameter identification within a fast procedure in an operational machine state.

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“…Currently, various multiaxial force sensors have been reported for E-skin applications using MEMS-based metal strain gauges [14,15]. However, these sensors are limited by their rigid silicon substrate and their adaptability on the soft human skin.…”

Section: Introductionmentioning

confidence: 99%

All-soft multiaxial force sensor based on liquid metal for electronic skin

Kim

Ahn

Jeong

et al. 2021

Micro and Nano Syst Lett

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Electronic skin (E-skin) capable of detecting various physical stimuli is required for monitoring external environments accurately. Here, we report an all-soft multiaxial force sensor based on liquid metal microchannel array for electronic skin applications. The proposed sensor is composed of stretchable elastomer and Galinstan, a eutectic gallium-indium alloy, providing a high mechanical flexibility and electro-mechanical durability. Liquid metal microchannel arrays are fabricated in multilayer and positioned along a dome structure to detect multi-directional forces, supported by numerical simulation results. By adjusting the height of the dome, we could control the response of the multiaxial sensor with respect to the deflection. As a demonstration of multiaxial force sensing, we were able to monitor the direction of multidirectional forces using a finger by the response of liquid metal microchannel arrays. This research could be applied to various fields including soft robotics, wearable devices, and smart prosthetics for artificial intelligent skin applications.

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Miniaturized multiaxial force/torque sensor with a rollable hexapod structure

Cited by 10 publications

References 7 publications

Measuring interaction forces in surgical telemanipulation using conventional instruments

Measuring interaction forces in surgical telemanipulation using conventional instruments

Model Calibration for a Rigid Hexapod-Based End-Effector with Integrated Force Sensors

All-soft multiaxial force sensor based on liquid metal for electronic skin

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