Shearing force measurement device with a built-in integrated micro displacement sensor

Iwasaki, Takuya; Takeshita, Toshihiro; Arinaga, Yuji; Uemura, Kentaro; Ando, Hisami; Takeuchi, Satoshi; Furue, Masutaka; Higurashi, Eiji; Sawada, Renshi

doi:10.1016/j.sna.2014.09.029

Cited by 30 publications

(10 citation statements)

References 8 publications

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“…A slip state can directly switch to a swing state. However, one drawback of the heuristics (10), (11) is the fact that a swing state first has to transit to a stance state before a slip can be detected.…”

Section: Discussionmentioning

confidence: 99%

“…However, slip information can be useful on the locomotion (initiate reactive behavior) and on the state estimation side (avoid drift in the odometry). Mechanical devices s.a. tactile sensors [9], [10] or shear force sensors [11] might be used for slip detection as well. Since these kind of sensors are difficult to maintain on a legged system due to repeated impacts, we do not consider such mechanical mechanisms.…”

Section: Introductionmentioning

confidence: 99%

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Dynamic Locomotion on Slippery Ground

Jenelten

Hwangbo

Tresoldi

et al. 2019

IEEE Robot. Autom. Lett.

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Dynamic locomotion on unstructured and uneven terrain is a challenging task in legged robotics. Especially when it comes to slippery ground conditions, common state estimation and control algorithms suffer from the usual noslip assumption. In fact, there has been only little research on this subject. This paper addresses the problem of slipping by treating slip detection and recovery tasks separately. Our contribution to the former is a probabilistic slip estimator based on a Hidden Markov Model. In the second part of this paper, we propose impedance control and friction modulation as useful tools to recover stability during traction loss. We demonstrate the success of our estimation/control architecture by enabling ANYmal, a quadrupedal torque-controllable robot, to dynamically walk over slippery terrain.

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Section: Discussionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Dynamic Locomotion on Slippery Ground

Jenelten

Hwangbo

Tresoldi

et al. 2019

IEEE Robot. Autom. Lett.

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show abstract

“…Recently, various small three-axis sensors have been developed. Typical sensors with different operating principles are strain-gage-based micro-electromechanical system (MEMS) sensors, (11)(12)(13) light-detection-type sensors, (14,15) capacitive sensors, (16,17) and sensors using conductive rubber. (18) However, some of them are not necessarily thin and flexible even if they are tiny.…”

Section: Introductionmentioning

confidence: 99%

Development of Hybrid Three-axis Load Sensor

Watanabe¹,

Hara²,

Toyama³

2020

Sensors and Materials

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persons with disabilities A thin and flexible sheet-type three-axis load sensor has been developed by hybridizing two different types of sensors, namely, a commercial sheet-type pressure sensor and a shear force sensor that we previously developed. The total thickness of the sensor was 0.9 mm. We have also developed a control circuit and a computer program for the sensor. Although seven signal lines were required in the original sensor configuration, the number of signal lines could be reduced to six by devising the circuit. The sensor response was as linear as each of the component sensors, and the responses of each of the three axes were nearly independent, without particular combination problems.

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“…To overcome the first difficulty mentioned above, an implementation based on reflection is desired. Iwasaki et al have placed a trapezoidal reflective metal frame above a VCSEL centered on top of 4 photodiodes [6]. Cirillo et al and Wheeler et al have both used a concept based on 4 emitter-detector pairs covered with a white reflective silicone [7], [8].…”

Section: Introductionmentioning

confidence: 99%

Fabrication of a Shear Stress Sensor Matrix Using Standard Printed Circuit Board and Overmolding Technologies

Monté

Daems

Missinne

2020

IEEE Trans. Compon., Packag. Manufact. Technol.

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In contrast to pressure distributions that can nowadays easily be measured using commercial sensor sheets, this is not yet the case for frictional or shear stresses. Those stresses act parallel to a surface which makes it more challenging to develop suitable sensors. A number of shear sensor prototypes have been reported until now, but realizing a matrix of shear sensors remains a big challenge because of cost and complexity issues. Therefore, this paper presents a fabrication approach for realizing a matrix of shear sensors using standard PCB and moulding technologies. The presented sensor is based on changing the coupling of optical power between a Light Emitting Diode and a set of photodiodes in combination with an overmoulding step, as such realizing a mechanical transducer. To demonstrate the fabrication flow, a first demonstrator incorporating a 5-taxel sensor matrix has been realized, able to record the in-plane shear stress magnitude and direction.

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Shearing force measurement device with a built-in integrated micro displacement sensor

Cited by 30 publications

References 8 publications

Dynamic Locomotion on Slippery Ground

Dynamic Locomotion on Slippery Ground

Development of Hybrid Three-axis Load Sensor

Fabrication of a Shear Stress Sensor Matrix Using Standard Printed Circuit Board and Overmolding Technologies

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