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JRM Vol.13 No.3 pp. 267-272
doi: 10.20965/jrm.2001.p0267
(2001)

Paper:

Force Sensing Unit with Single Amplifier and an Application to a Whisker Sensor

Naohiro Ueno* and Makoto Kaneko**

*National Institute of Advanced Industrial Science and Technology, 807-1, Shuku-machi, Tosu, Saga 841-0052, Japan

**Industrial Engineering Department, Hiroshima University, 4-1, Kagamiyama 1-Chome, Higashi-Hirohshima 739-8527, Japan

Received:
December 28, 2000
Accepted:
January 17, 2001
Published:
June 20, 2001
Keywords:
force/moment sensor, whisker sensor, contact localization, contact force
Abstract

In this paper, uniaxial force sensor unit with single amplifier is developed. Four strain gauges attached to thin elastic plate constitute a bridge circuit which counts normal component of acting force automatically. It is easy to implant a uniaxial moment sensor in the unit independently. As an application of developed sensor unit, a whisker sensor system, which is simply composed of a flexible tactile beam and two force/moment sensor units, is proposed. The system is able to detect contact location between the flexible beam and an object. Contact force when the beam makes contact at its tip end is experimentally examined.

Cite this article as:
Naohiro Ueno and Makoto Kaneko, “Force Sensing Unit with Single Amplifier and an Application to a Whisker Sensor,” J. Robot. Mechatron., Vol.13, No.3, pp. 267-272, 2001.
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