A Three-Axial Body Force Sensor for Flexible Manipulators

Noh, Yohan and Sareh, Sina and Back, J and Wurdemann, Helge A and Ranzani, Tommaso and Secco, Emanuele Lindo and Faragasso, Angela and Liu, Hongbin and Althoefer, Kaspar (2014) A Three-Axial Body Force Sensor for Flexible Manipulators. In: IEEE International Conference on Robotics and Automation (ICRA 2014).

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Official URL: DOI: 10.1109/ICRA.2014.6907802

Abstract

This paper introduces an optical based three axis force sensor which can be integrated with the robot arm of the EU project STIFF-FLOP (STIFFness controllable Flexible and Learnable Manipulator for Surgical Operations) in order to measure applied external forces. The structure of the STIFF-FLOP arm is free of metal components and electric circuits and, hence, is inherently safe near patients during surgical operations. In addition, this feature makes the performance of this sensing system immune against strong magnetic fields inside magnetic resonance (MR) imaging scanners. The hollow structure of the sensor allows the implementation of distributed actuation and sensing along the body of the manipulator. In this paper, we describe the design and calibration procedure of the proposed three axis optics-based force sensor. The experimental results confirm the effectiveness of our optical sensing approach and its applicability to determine the force and momentum components during the physical interaction of the robot arm with its environment.

Item Type: Conference or Workshop Item (Paper)
Additional Information and Comments: (c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works."
Faculty / Department: Faculty of Science > Mathematics and Computer Science
Depositing User: Emanuele Secco
Date Deposited: 19 May 2016 10:22
Last Modified: 19 May 2016 10:22
URI: http://hira.hope.ac.uk/id/eprint/1181

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