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Proceedings Paper

Force and torque smart tensegrity sensor
Author(s): Cornel Sultan; Robert T. Skelton
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Paper Abstract

Tensegrity structures represent a special class of tendon space structures, whose members may simultaneously perform the functions of strength, sensing, actuating and feedback control. The paper exploits this advantage, proposing a smart tensegrity sensor for simultaneous measurement of six quantities: three orthogonal forces and three orthogonal moments. The paper shows how the static and dynamic characteristics of the device can be calibrated through pretension and damping adjustment. The external forces and torques of interest are estimated using the measurements provided by selected tendons. A state estimator, based on the linearized model, finalizes the design.

Paper Details

Date Published: 24 July 1998
PDF: 12 pages
Proc. SPIE 3323, Smart Structures and Materials 1998: Mathematics and Control in Smart Structures, (24 July 1998); doi: 10.1117/12.316316
Show Author Affiliations
Cornel Sultan, Purdue Univ. (United States)
Robert T. Skelton, Univ. of California/San Diego (United States)

Published in SPIE Proceedings Vol. 3323:
Smart Structures and Materials 1998: Mathematics and Control in Smart Structures
Vasundara V. Varadan, Editor(s)

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