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Proceedings Paper

Next force sensing technology for robots: multi-axis resonant sensors
Author(s): Davinson Castano-Cano; Mathieu Grossard; Arnaud Hubert
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Paper Abstract

The aim of this paper is to present a novel resonant multi-axis force sensor with applications in robotics. A resonant force sensor is characterized by the use of a frequency output signal to estimate the applied forces, instead of using its amplitude as it is often the case for the other existing technologies used in robotics. The advantages of resonant force sensing for robotics are discussed, especially for the safety requirements in the collaborative field. We extend our analysis to show the main similarities and differences between more classical sensors (based on strain gages for instance) and resonant ones, with a focus on their design. More specifically, we detail the way the design of the sensitive element, which essentially transduces the applied forces into frequencies, plays a major role on its performances.

Paper Details

Date Published: 13 May 2016
PDF: 9 pages
Proc. SPIE 9859, Sensors for Next-Generation Robotics III, 98590H (13 May 2016); doi: 10.1117/12.2234049
Show Author Affiliations
Davinson Castano-Cano, CEA-LIST, Interactive Robotics Lab. (France)
FEMTO-ST Institute, Univ. de Franche-Comté, CNRS (France)
Mathieu Grossard, CEA-LIST, Interactive Robotics Lab. (France)
Arnaud Hubert, FEMTO-ST Institute, Univ. de Franche-Comté, CNRS (France)
Sorbonne Univ., Univ. de Technologie de Compiègne, Lab. Electromecanique (France)

Published in SPIE Proceedings Vol. 9859:
Sensors for Next-Generation Robotics III
Dan Popa; Muthu B. J. Wijesundara, Editor(s)

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