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A Table-Shaped Tactile Sensor for Detecting Triaxial Force on the Basis of Strain Distribution

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Author(s): Jeong Il Lee | Min-Gyu Kim | Mitsuhiro Shikida | Kazuo Sato

Journal: Sensors
ISSN 1424-8220

Volume: 13;
Issue: 12;
Start page: 16347;
Date: 2013;
Original page

Keywords: tactile sensor | table-shaped structure | decoupling of triaxial force

ABSTRACT
A slim and flexible tactile sensor applicable to the interaction of human and intelligent robots is presented. In particular, a simple sensing principle for decoupling of three-dimensional force is proposed. Sensitivity of the proposed tactile sensor is tested experimentally. To improve the sensitivity of the sensor, a table-shaped sensing element was designed. Table-shaped structure can convert an external acting force into concentrated internal stress. A “triaxial force decoupling algorithm” was developed by combining two-dimensional mapping data calculated by finite element analysis. The sensor was calibrated under normal and tangential forces. The external loads applied to the sensor could be decoupled independently as a function of the strain-gauge responses.
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