Robust and Inexpensive Six-Axis Force-Torque Sensors Using MEMS Barometers

Current commercial force-torque sensors are sensitive and accurate, but are also typically expensive and fragile. These features limit their use in cost-sensitive applications and unstructured environments such as people's homes. This paper presents a new design for an inexpensive and robust fo...

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Bibliographic Details
Published in:IEEE/ASME transactions on mechatronics 2017-04, Vol.22 (2), p.838-844
Main Authors: Guggenheim, Jacob W., Jentoft, Leif P., Tenzer, Yaroslav, Howe, Robert D.
Format: Article
Language:English
Subjects:
Barometers
Force
Force measurement
Microelectromechanical systems
Micromechanical devices
robot sensing systems
Robustness
Rubber
Sensitivity
Sensors
Stress
torque measurement
Torquemeters
Transducers
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Summary:Current commercial force-torque sensors are sensitive and accurate, but are also typically expensive and fragile. These features limit their use in cost-sensitive applications and unstructured environments such as people's homes. This paper presents a new design for an inexpensive and robust force-torque sensor that uses microelectromechanical system barometer transducers. The new design results in a six-axis force-torque sensor with an R 2 greater than 0.90 for F x and F y , and an R 2 greater than 0.98 for F z , M x , M y , and M z during compound loading. Furthermore, this sensor can be assembled in two days with off-the-shelf components for less than 20 USD.
ISSN:1083-4435
1941-014X
DOI:10.1109/TMECH.2017.2654446