NDLI: Compact design of a torque sensor using optical technique and its fabrication for wearable and quadruped robots

Content Provider	IEEE Xplore Digital Library
Author	Shams, S. Dongik Shin Jungsoo Han Ji Yeong Lee Kyoosik Shin Chang-Soo Han
Copyright Year	2011
Description	Author affiliation: Dept. of Mechanical Systems Engineering, Hansung University, Seoul, 136-792, South Korea (Jungsoo Han) \|\| Dept. of Mechanical Engineering, Hanyang University, Ansan, 425-791, South Korea (Shams, S.; Dongik Shin; Ji Yeong Lee; Kyoosik Shin; Chang-Soo Han)
Abstract	This paper describes the compact design of a torque sensor using optical technique and its fabrication for wearable and quadruped robots. The torque generated can only be measured by placing torque sensor on each joint, which makes the joint bulky and heavy, adding extra load to be carried by robot. In this paper we proposed a compact and light weight design for the torque sensor. This sensor can measure torque of robots links by detecting torsion. The optical technique is used to detect angular displacement in the joints. The torque can be calculated by using torque and twist-angle relation. The proposed design is simulated by FEM software (ANSYS) and it shows successful measurements of the torque with a load capacity of 50 Nm, which is sufficient for the torque generated in wearable and quadruped robots joints. The designed optical torque sensor is manufactured by EDM (Electrical Discharge Machining). The optical torque sensor was calibrated and several experiments were conducted to ratify its feasibility with the wearable and quadruped robots.
Starting Page	5127
Ending Page	5132
File Size	491343
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094590
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Torque Interrupters Joints Optical sensors Stress
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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