Small sized force/torque sensors for robotic arms and hands

2017 Fiscal Year Annual Research Report

• Project/Area Number: 15K21443
• Research Institution: Waseda University
• Principal Investigator: シュミッツ アレクサンダー 早稲田大学, 理工学術院, 准教授(任期付) (30729455)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Keywords: Tactile Sensor / Force Sensor

Outline of Annual Research Achievements

We further developed the sensor and tested it successfully.

The results were published here: Somlor, S., Schmitz, A., Jinsun, H., Tomo, T.P., and Sugano, S. (2017) Development of a Capacitive-type 6-axis Force-Torque Sensor. IEEE Sensors Conference 2017, doi: 10.1109/ICSENS.2017.8234153

We implemented a small-sized 6-axis force-torque sensor, using a novel arrangement of 12 unit of the transducers based on the capacitive force transducer we have
previously developed. It provides digital output via I2C bus to reduce the susceptibility to noise and the number of wires. Basic sensor characteristics such as its sensitivity, signal-to-noise ratio, linearity, and hysteresis have been verified. More importantly, we have verified that our sensor can detect and measure the 6-axis force-torque.

Research Products

• [Int'l Joint Research] The Queen Mary University of London/School of Electronic Eng. & Comp. Sci.(英国)
  • Country Name: UNITED KINGDOM
  • Counterpart Institution: The Queen Mary University of London/School of Electronic Eng. & Comp. Sci.
• [Int'l Joint Research]
  • # of Other Countries: 1
• [Journal Article] Covering a Robot Fingertip With uSkin: A Soft Electronic Skin With Distributed 3-Axis Force Sensitive Elements for Robot Hands (2017)
  • Author(s): Tomo, T.P., Schmitz, A., Wong, W.K., Kristanto, H., Somlor, S., Hwang, J., Jamone, L., Sugano
  • Journal Title: IEEE Robotics and Automation Letters (IEEE RA-L) Volume: 3(1) Pages: 124-131
  • DOI: 10.1109/LRA.2017.2734965
  • Peer Reviewed / Int'l Joint Research
• [Presentation] Development of a Capacitive-type 6-axis Force-Torque Sensor (2017)
  • Author(s): Somlor, S., Schmitz, A., Jinsun, H., Tomo, T.P., Sugano, S.
  • Organizer: IEEE Sensors Conference 2017
  • Int'l Joint Research