TY - GEN
T1 - Development of joint torque sensor applied to compensate crosstalk error
AU - Choi, Seung Yun
AU - Kim, Tae Keun
AU - Kim, Dong Yeop
AU - Kim, Bong Seok
AU - Hwang, Jung Hoon
AU - Park, Chang Woo
PY - 2012
Y1 - 2012
N2 - For force control of robot and collision detection with humans, robots that has joint torque sensors have been developed. However, existing torque sensors cannot measure correct torque because of crosstalk error. In order to solve this problem, we proposed a novel torque sensor that can measure the pure torque without crosstalk. The hexaform of the proposed sensor with truss structure increase deformation of the sensor and restoration, and the Wheatstone bridge circuit of strain gauge removes crosstalk error. Sensor performance is verified with FEM analysis.
AB - For force control of robot and collision detection with humans, robots that has joint torque sensors have been developed. However, existing torque sensors cannot measure correct torque because of crosstalk error. In order to solve this problem, we proposed a novel torque sensor that can measure the pure torque without crosstalk. The hexaform of the proposed sensor with truss structure increase deformation of the sensor and restoration, and the Wheatstone bridge circuit of strain gauge removes crosstalk error. Sensor performance is verified with FEM analysis.
UR - http://www.scopus.com/inward/record.url?scp=84872580508&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872580508&partnerID=8YFLogxK
U2 - 10.1109/CoASE.2012.6386505
DO - 10.1109/CoASE.2012.6386505
M3 - Conference contribution
AN - SCOPUS:84872580508
SN - 9781467304283
T3 - IEEE International Conference on Automation Science and Engineering
SP - 1086
EP - 1088
BT - 2012 IEEE International Conference on Automation Science and Engineering
T2 - 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
Y2 - 20 August 2012 through 24 August 2012
ER -