Development and evaluation of a two-axial shearing force sensor consisting of an optical sensor chip and elastic gum frame |
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| Affiliation: | 1. Graduate School of Systems Life Sciences, Kyushu University, 744 Motooka, Nishi-Ku, Fukuoka 819-0395, Japan;2. Fuzzy Logic Systems Institute, 1-5 Hibikino, Wakamatsu-ku, Kitakyushu 808-0135, Japan;3. Department of Dermatology, Graduate School of Medical Sciences, Kyushu University, 3-1-1 Maidashi, Higashi-Ku, Fukuoka 812-0054, Japan;4. Research Center for Advanced Science and Technology, University of Tokyo, 4-6-1 Komaba, Meguro, Tokyo 153-8904, Japan;1. RIAL – Robotics and Industrial Automation Laboratory, Department of Industrial and Manufacturing Engineering, University of Malta, Msida MSD 2080, Malta;2. Industrial Automation Laboratory, Department of Mechanical Engineering, University of British Columbia, Vancouver, BC V6T 1Z4, Canada;1. State Key Laboratory of Mechanics and Control of Mechanical Structures, Nanjing University of Aeronautics and Astronautics, 29 Yudao St, Nanjing 210016, China;2. Department of Mechanical and Industrial Engineering, University of Toronto, 5 King''s College Rd, Toronto, Ontario, Canada M5S 3G8;1. Graduate School of Science and Engineering, Yamaguchi University, Tokiwadai 2-16-1, Ube, Yamaguchi 755-8611, Japan;2. School of Information Science and Technology, Aichi Prefectural University, Ibaragabasama 1522-3, Nagakute-Shi, Aichi 480-1198, Japan;1. Rehabilitation Engineering Laboratory, Department of Health Sciences and Technology, ETH Zurich, Switzerland;2. Spinal Cord Injury Center, Balgrist University Hospital, Zurich, Switzerland;3. Occupational Health Management, SBB AG, Swiss Federal Railways, Bern, Switzerland;1. Graduate School, Tokyo Institute of Technology, R2-42, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan;2. Precision and Intelligence Laboratory, Tokyo Institute of Technology, R2-42, 4259 Nagatsuta-cho, Midori-ku, Yokohama 226-8503, Japan |
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| Abstract: | We developed a promising shearing force sensor that is small in size and can measure shearing force along two axes independently. This sensor consists of an elastic gum frame and an optical sensor chip (6 mm × 6 mm × 8 mm). From the experimental results, the resolutions of the sensor along the x- and y-axes are found to be 0.070 N and 0.063 N. We also experimentally demonstrated that the sensor can separately measure shearing force along two axes. Finally, we demonstrated that the scale factor which correspond to resolution and linear portion which correspond to measuring range of the signals can be changed easily by using three types of elastic gum frame. This sensor can be embedded in the finger of a robot hand and use it to not only measure shearing force but also detect the slip phenomenon. |
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| Keywords: | Shearing force sensor Tactile sensor Optical sensor Robot hand |
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