Optical torque sensors for implementation of local impedance control of the arm of humanoid robot

Tsetserukou, Dzmitry; Tadakuma, Riichiro; Kajimoto, Hiroyuki; Tachi, Susumu

doi:10.1109/robot.2006.1641947

Cited by 51 publications

(29 citation statements)

References 5 publications

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“…In recent years, a variety of techniques as optical techniques, magnetic techniques, mechanical oscillator techniques, and surface acoustic wave (SAW) techniques are being developed by different researchers to detect many different physical parameters [11,14,[16][17][18][19][20][21][22][23], including displacement either linear or angular force and torque. Increased research in the field of torque sensing based on these techniques is due to its compact size, lightweight and simple electronics.…”

Section: The Strainmentioning

confidence: 99%

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

NanZhe

Jia

Xue

et al. 2013

Advances in Mechanical Engineering

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This paper describes the development of a compact and lightweight joint torque sensor for space manipulators. Space manipulators with torque sensors can not only apply force control approach to more precise and more dexterous space missions, but also monitor the occurrence of unpredicted events as accidental impacts with objects they have to manipulate. At present, most of the compact torque sensors, designed without consideration of space environment, cannot be directly used in space applications. In this paper, we propose a compact and lightweight design for the joint torque sensor based on strain gauge, for the reason of good physical, chemical, and mechanical stabilities under high temperature environment. In addition, to reduce the interferences by axial forces generated by assembling condition and joint motors, the structural optimization for the sensing element is carried out. The proposed design is simulated by FEM software ANSYS, and it shows successful measurements of the torque with a load capacity of 10 Nm, which is sufficient for the torque generated in robot joints. The effect of axial loading is also analyzed by ANSYS. The designed sensor is manufactured by duralumin alloy. The calibration for the sensor is carried out, and several experiments are conducted to ensure its feasibility with the space manipulator.

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Section: The Strainmentioning

confidence: 99%

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

NanZhe

Jia

Xue

et al. 2013

Advances in Mechanical Engineering

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“…The spring members attached to the first, second~and third/fourth joints were designed to measure torque of ± 12.5 In order to facilitate the realization of torque measurement in each arm joint, we developed new optical torque sensors based on results presented in [8]. The novelty of our method is application of the ultra-small size photointerrupter (PI) RPI-121 as sensitive element to measure relative motion of sensor components.…”

Section: A Contact State Recognitionmentioning

confidence: 99%

Obstacle avoidance control of humanoid robot arm through tactile interaction

Tsetserukou

Kawakami

Tachi

2008

Humanoids 2008 - 8th IEEE-RAS International Conference on Humanoid Robots

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In this paper we introduce a novel concept of obstacle avoidance through tactile interaction. The implementation of the approach was realized on humanoid robot arm with optical torque sensors distributed to each robot joint. When manipulator collides with an object, the control system enables to follow the object outline smoothly till robot reaches the target point. Such approach ensures not only safe obstacle avoidance but also acquisition of indispensable information about environment. The methods of object stiffness calculation, contact point estimation, and shape interpolation are detailed in the paper. The possible tasks of the robot with intelligent whole-arm obstacle avoidance control are summarized and illustrated in this work as well. The controllable compliance of robot arm joint can be extremely useful in a wide range of applications.

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“…To avoid these problems, joint torque sensing based on measuring the torsional deformation of the joint are proposed. This joint torque sensing that placed elasticelement in the output transmission line of joint was proposed in [9] by Tsetserukou et al and its spin-off in [10]. In [11], a linear encoder is used to measure the torsional deformation of the additional elastic body.…”

Section: Introductionmentioning

confidence: 99%

A Novel Virtual Torque Sensor for Rescue Robots with Harmonic Drives

Xia

Ding

Liu

et al. 2016

Preprint

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Abstract:In this paper, a method is developed for presenting a novel virtual torque sensor based on precise model and position measurements avoids the need of traditional strain gauges and amplifiers. More specifically, the harmonic drive compliance model and the Gaussian process regression (GPR) technique are used together to achieve virtual torque sensor measurement. While the harmonic drive compliance model provides the analytic part, the Gaussian process regression method is used to reconstruct the unmolded part based on motor-side and link-side joint angles as well as motor current. After an automatic offline calibration, the method allows for a lean online implementation. The virtual torque sensor measurement is compared with measurements of a commercial torque sensor, and the results have attested the effectiveness of the proposed method.

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Optical torque sensors for implementation of local impedance control of the arm of humanoid robot

Cited by 51 publications

References 5 publications

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

Analysis and Design Optimization of a Compact and Lightweight Joint Torque Sensor for Space Manipulators

Obstacle avoidance control of humanoid robot arm through tactile interaction

A Novel Virtual Torque Sensor for Rescue Robots with Harmonic Drives

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