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Proceedings Paper

Six-axis capacitive force/torque sensor based on dielectric elastomer
Author(s): Daegyeong Kim; Choong Han Lee; Baek Chul Kim; Dong Hyuck Lee; Hyung Suk Lee; Canh Toan Nguyen; Ui Kyum Kim; Tien Dat Nguyen; Hyungpil Moon; Ja Choon Koo; Jae-do Nam; Hyouk Ryeol Choi
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Paper Abstract

The six axis F/T sensor is a primary component for the robotic technologies, but its high unit cost hampers the popularization to the robotic applications. In this paper, we present a six-axis force-torque capacitive sensor based on dielectric elastomer. Dielectric elastomer is compressed and deformed with external forces acting on it. Its deformation results in the variation of capacitance, which can be used as a kind of capacitive sensing scheme. The proposed sensor consists of plastic structure and dielectric elastomer capacitors. Since it takes a simple structure, it is possible to fabricate by using a plastic molding process, which results in extremely lower cost than existing off-the-shelf products. We present the basic structure and design of the sensor with the explanation of its working principle. A fabrication method dedicated to the sensor is developed and finally, a prototype will be demonstrated with calibration procedures.

Paper Details

Date Published: 9 April 2013
PDF: 9 pages
Proc. SPIE 8687, Electroactive Polymer Actuators and Devices (EAPAD) 2013, 86872J (9 April 2013); doi: 10.1117/12.2009970
Show Author Affiliations
Daegyeong Kim, Sungkyunkwan Univ. (Korea, Republic of)
Choong Han Lee, Sungkyunkwan Univ. (Korea, Republic of)
Baek Chul Kim, Sungkyunkwan Univ. (Korea, Republic of)
Dong Hyuck Lee, Sungkyunkwan Univ. (Korea, Republic of)
Hyung Suk Lee, Sungkyunkwan Univ. (Korea, Republic of)
Canh Toan Nguyen, Sungkyunkwan Univ. (Korea, Republic of)
Ui Kyum Kim, Sungkyunkwan Univ. (Korea, Republic of)
Tien Dat Nguyen, Sungkyunkwan Univ. (Korea, Republic of)
Hyungpil Moon, Sungkyunkwan Univ. (Korea, Republic of)
Ja Choon Koo, Sungkyunkwan Univ. (Korea, Republic of)
Jae-do Nam, Sungkyunkwan Univ. (Korea, Republic of)
Hyouk Ryeol Choi, Sungkyunkwan Univ. (Korea, Republic of)


Published in SPIE Proceedings Vol. 8687:
Electroactive Polymer Actuators and Devices (EAPAD) 2013
Yoseph Bar-Cohen, Editor(s)

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