Force intensity and direction measurement in real time using miniature tactile sensor withl microcantilevers embedded in PDMS

Intensity and direction of normal and shear (3-axial) forces have been measured by using a tactile sensor with NiCr strain gauge film on 3 microcantilevers. Output voltage of the Wheatstone bridge which includes a gauge film is measured as digital signal after amplification. 3-axial forces are calcu...

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Bibliographic Details
Main Authors: Yokoyama, Hokuto, Sohgawa, Masayuki, Kanashima, Takeshi, Okuyama, Masanori, Abe, Takashi, Noma, Haruo, Azuma, Teruaki
Format: Conference Proceeding
Language:English
Subjects:
Educational institutions
Force
Force measurement
Tactile sensors
Online Access:Request full text
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Description
Summary:Intensity and direction of normal and shear (3-axial) forces have been measured by using a tactile sensor with NiCr strain gauge film on 3 microcantilevers. Output voltage of the Wheatstone bridge which includes a gauge film is measured as digital signal after amplification. 3-axial forces are calculated from the output voltages of 3 microcantilevers every 100 ms. When normal force is applied from 0 to 1 N, the measurement errors of normal and shear forces are less than 50 mN and 10 mN, respectively. When shear force of 0.1 and 0.2 N is applied, the angle error of evaluated direction is less than 10°.
ISSN:1930-0395
2168-9229
DOI:10.1109/ICSENS.2013.6688401