single-rb.php

JRM Vol.18 No.2 pp. 121-130
doi: 10.20965/jrm.2006.p0121
(2006)

Paper:

Views over last 60 days: 263

Optical Torque Sensors for Local Impedance Control Realization of an Anthropomorphic Robot Arm

Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto,
and Susumu Tachi

The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:
November 2, 2005
Accepted:
March 3, 2006
Published:
April 20, 2006
Creative Commons License
Keywords:
optical torque sensor, impedance control
Abstract

We recently developed an optical torque sensor to replace expensive strain-gauge-based sensor on the anthropomorphic robot arm and realize local impedance control in individual joints.

Cite this article as:
Dzmitry Tsetserukou, Riichiro Tadakuma, Hiroyuki Kajimoto, and
and Susumu Tachi, “Optical Torque Sensors for Local Impedance Control Realization of an Anthropomorphic Robot Arm,” J. Robot. Mechatron., Vol.18, No.2, pp. 121-130, 2006.
Data files:
References
  1. [1] R. Tadakuma, Y. Asahara, H. Kajimoto, N. Kawakami, and S. Tachi, “Development of Anthropomorphic multi-D.O.F. Master-slave Arm for Mutual Telexistence,” IEEE Transactions on Visualization and Computer Graphics, Vol.11, No.6, pp. 626-636, November, 2005.
  2. [2] J. D. Turner, and M. H. Westbrook, “Automotive Sensors,” Bristol, U.K., IOP, 1993.
  3. [3] J. A. Kovacich et al., “Method of Manufacturing a Piezoelectric Torque Sensor,” U.S. Patent 6 442 812 B1, 2002.
  4. [4] P. L. Fulmek, F. Wandling, W. Zdiarsky, G. Brasseur, and S. P. Cermak, “Capacitive Sensor for Relative Angle Measurement,” IEEE Transactions on Instrumentation and Measurement, Vol.51, No.6, pp. 1145-1149, December, 2002.
  5. [5] A. M. Madni, R. K. Hansen, and J. B. Vuong, “Differential Capacitive Torque Sensor,” U.S. Patent 6 772 646, 2004.
  6. [6] D. Vischer, and O. Khatib, “Design and Development of Highperformance Torque Controlled Joints,” IEEE Transactions on Robotic and Automation, Vol.11, No.4, pp. 537-544, August, 1995.
  7. [7] O. Shinoura, “Torque Sensor and Manufacturing Method of the Same,” U.S. Patent 6 574 853 B2, 2003.
  8. [8] R. Ishino et al., “Magnetostrictive Torque Sensor Shaft,” U.S. Patent 5 491 369, 1996.
  9. [9] S. Hirose, and K. Yoneda, “Robotic Sensors with Photodetecting Technology,” Proc. of 20th International Symposium on Industrial Robotics, pp. 271-278, 1989.
  10. [10] S. Hirose, and K. Yoneda, “Development of Optical 6-axial Force Sensor and its Non-linear Calibration,” J. of RSJ, Vol.8-25, pp. 19-28, 1990.
  11. [11] Minebea, “6-Axial Force Sensor,” Minebea Co., Ltd.,
    [Online], Available: http://www.minebea-mcd.com/6-axial/index.htm.
  12. [12] N. Takahashi et al., “An optical 6-axis Force Sensor for Brain Function Analysis using fMRI,” Proc. of 2nd IEEE International Conf. On Sensors, Vol.1, pp. 253-258, October, 2003.
  13. [13] N. Okutani, and K. Nakazawa, “Torsion Angle Detection Apparatus and Torque Sensor,” U.S. Patent 5 247 839, 1993.
  14. [14] S. J. Horton, “Displacement and Torque Sensor,” U.S. Patent 6 800 843 B2, 2004.
  15. [15] A. J. Hilton, “Force and Torque Converter,” U.S. Patent 4 811 608, 1989.
  16. [16] “Photointerrupter Design Guide,” Product catalog of ROHM, pp. 6-7, 2005.
  17. [17] C. Nicot, “Torque Sensor for a Turning Shaft,” U.S. Patent 6 694 828 B1, 2004.
  18. [18] ATI, “Multi-Axis Force/Torque Sensor,” ATI Industrial Automation,
    [Online], Available: http://www.ati-ia.com/library/documents/ATI_FT_Sensor_Catalog_DEC2005.pdf .
  19. [19] BL AUTOTEC, “BL Sensor, ” BL AUTOTEC, LTD.,
    [Online], Available: http://www.bl-autotec.co.jp/english/pdf/bl-sensor.pdf.

Creative Commons License  This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.

Copyright© 2006 by Fuji Technology Press Ltd. and Japan Society of Mechanical Engineers. All right reserved.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Jan. 13, 2022