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Force Sensors for Robotic Applications
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Force Sensors for Robotic Applications

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Physical Sensors".

Deadline for manuscript submissions: closed (15 July 2021) | Viewed by 17304

Special Issue Editor

Dr. Uikyum Kim

E-Mail Website
Guest Editor
Department of Mechanical Engineering, AJOU University, Kyonggi-do, Republic of Korea
Interests: force/tactile sensor; multiaxis force/torque sensor; soft sensor; robot hand; surgical robot
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Force sensing is essential in various robotic applications. Therefore, force sensors are important in providing high-quality services in various robots, such as humanoid, wearable robot, surgical robot, industrial manipulator, telemanipulator, and so on. Sensors make possible delicate tasks that were previously thought impossible for robotic applications. For sensors to be used in robotic applications, though, novel force sensing principles, robot integration, miniaturization, force calibration, soft smart material research, and so on need to be considered. This Special Issue will highlight state-of-the-art sensors technology in “Force Sensors for Robotic Applications” through original contributions and reviews.

Topics of interest include but are not limited to the following:

  • Force-sensor-integrated robot applications
  • Multiaxis sensors
  • Force/torque sensors
  • Wearable sensors
  • Soft sensors
  • Smart material-based sensor
  • Force calibration

Dr. Uikyum Kim
Guest Editor

Manuscript Submission Information

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Keywords

  • force sensor
  • tactile sensor
  • multiaxis force/torque sensor
  • soft sensor
  • robot integration

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Published Papers (4 papers)

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Research

19 pages, 3658 KiB  
Article
A Transfer Function Model Development for Reconstructing Radial Pulse Pressure Waveforms Using Non-Invasively Measured Pulses by a Robotic Tonometry System
by Gwanghyun Jo, Tae-Heon Yang, Jeong-Hoi Koo, Min-Ho Jun and Young-Min Kim
Sensors 2021, 21(20), 6837; https://doi.org/10.3390/s21206837 - 14 Oct 2021
Cited by 3 | Viewed by 2673
Abstract
The primary goal of this study is to develop a mathematical model that can establish a transfer function relationship between the “external” pulse pressures measured by a tonometer and the “internal” pulse pressure in the artery. The purpose of the model is to [...] Read more.
The primary goal of this study is to develop a mathematical model that can establish a transfer function relationship between the “external” pulse pressures measured by a tonometer and the “internal” pulse pressure in the artery. The purpose of the model is to accurately estimate and rebuild the internal pulse pressure waveforms using arterial tonometry measurements. To develop and validate a model without human subjects and operators for consistency, this study employs a radial pulse generation system, a robotic tonometry system, and a write model with an artificial skin and vessel. A transfer function model is developed using the results of the pulse testing and the mechanical characterization testing of the skin and vessel. To evaluate the model, the pulse waveforms are first reconstructed for various reference pulses using the model with tonometry data. They are then compared with pulse waveforms acquired by internal measurement (by the built-in pressure sensor in the vessel) the external measurement (the on-skin measurement by the robotic tonometry system). The results show that the model-produced pulse waveforms coinciding well with the internal pulse waveforms with small relative errors, indicating the effectiveness of the model in reproducing the actual pulse pressures inside the vessel. Full article
(This article belongs to the Special Issue Force Sensors for Robotic Applications)
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22 pages, 11715 KiB  
Article
Model Calibration for a Rigid Hexapod-Based End-Effector with Integrated Force Sensors
by Christian Friedrich and Steffen Ihlenfeldt
Sensors 2021, 21(10), 3537; https://doi.org/10.3390/s21103537 - 19 May 2021
Cited by 5 | Viewed by 3431
Abstract
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. [...] Read more.
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. Full article
(This article belongs to the Special Issue Force Sensors for Robotic Applications)
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18 pages, 5036 KiB  
Article
Rugged and Compact Three-Axis Force/Torque Sensor for Wearable Robots
by Heeyeon Jeong, Kyungjun Choi, Seong Jun Park, Cheol Hoon Park, Hyouk Ryeol Choi and Uikyum Kim
Sensors 2021, 21(8), 2770; https://doi.org/10.3390/s21082770 - 14 Apr 2021
Cited by 10 | Viewed by 4605
Abstract
In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user’s strength, and based on this, wearable robots are controlled. In this paper, we propose a novel three-axis [...] Read more.
In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user’s strength, and based on this, wearable robots are controlled. In this paper, we propose a novel three-axis force/torque sensor for wearable robots that is compact and has a high load capacity. The bolt and nut combination of the proposed sensor is designed to measure high-load weights, and the simple structure of this combination allows the sensor to be compact and light. Additionally, to measure the three-axis force/torque, we design three capacitance-sensing cells. These cells are arranged in parallel to measure the difference in capacitance between the positive and negative electrodes. From the capacitance change measured by these sensing cells, force/torque information is converted through deep neural network calibration. The sensing point can also be confirmed using the geometric and kinematic relation of the sensor. The proposed sensor is manufactured through a simple and inexpensive process using cheap and simply structured components. The performance of the sensor, such as its repeatability and capacity, is evaluated using several experimental setups. In addition, the sensor is applied to a wearable robot to measure the force of an artificial muscle. Full article
(This article belongs to the Special Issue Force Sensors for Robotic Applications)
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12 pages, 4008 KiB  
Article
Design of a Sensitive Balloon Sensor for Safe Human–Robot Interaction
by Dongjin Kim, Seungyong Han, Taewi Kim, Changhwan Kim, Doohoe Lee, Daeshik Kang and Je-Sung Koh
Sensors 2021, 21(6), 2163; https://doi.org/10.3390/s21062163 - 19 Mar 2021
Cited by 15 | Viewed by 4309
Abstract
As the safety of a human body is the main priority while interacting with robots, the field of tactile sensors has expanded for acquiring tactile information and ensuring safe human–robot interaction (HRI). Existing lightweight and thin tactile sensors exhibit high performance in detecting [...] Read more.
As the safety of a human body is the main priority while interacting with robots, the field of tactile sensors has expanded for acquiring tactile information and ensuring safe human–robot interaction (HRI). Existing lightweight and thin tactile sensors exhibit high performance in detecting their surroundings. However, unexpected collisions caused by malfunctions or sudden external collisions can still cause injuries to rigid robots with thin tactile sensors. In this study, we present a sensitive balloon sensor for contact sensing and alleviating physical collisions over a large area of rigid robots. The balloon sensor is a pressure sensor composed of an inflatable body of low-density polyethylene (LDPE), and a highly sensitive and flexible strain sensor laminated onto it. The mechanical crack-based strain sensor with high sensitivity enables the detection of extremely small changes in the strain of the balloon. Adjusting the geometric parameters of the balloon allows for a large and easily customizable sensing area. The weight of the balloon sensor was approximately 2 g. The sensor is employed with a servo motor and detects a finger or a sheet of rolled paper gently touching it, without being damaged. Full article
(This article belongs to the Special Issue Force Sensors for Robotic Applications)
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