A Three-Axis Force Sensor for Dual Finger Haptic Interfaces

Sensors

Marco Fontana¹  Simone Marcheschi²  Fabio Salsedo² 

[1] PERCRO Laboratory, TeCIP Institute, Scuola Superiore Sant'Anna, Piazza Martiri della Libertà 33, Pisa 56127, Italy;

关键词: force sensor;    Maltese cross;    three-axis force sensing;    haptics;    force feedback;    haptic interface;   

DOI  :  10.3390/s121013598

来源: mdpi

【 摘 要 】

In this work we present the design process, the characterization and testing of a novel three-axis mechanical force sensor. This sensor is optimized for use in closed-loop force control of haptic devices with three degrees of freedom. In particular the sensor has been conceived for integration with a dual finger haptic interface that aims at simulating forces that occur during grasping and surface exploration. The sensing spring structure has been purposely designed in order to match force and layout specifications for the application. In this paper the design of the sensor is presented, starting from an analytic model that describes the characteristic matrix of the sensor. A procedure for designing an optimal overload protection mechanism is proposed. In the last part of the paper the authors describe the experimental characterization and the integrated test on a haptic hand exoskeleton showing the improvements in the controller performances provided by the inclusion of the force sensor.

【 授权许可】

CC BY   
© 2012 by the authors; licensee MDPI, Basel, Switzerland.