Work

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

Year: 2017

Type: article

Abstract: 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 R2greater than 0.90 for Fxand Fy, and an R2greater than 0.98 for Fz, Mx, My, and Mzduring compound loading. Furthermore, this sensor can be assembled in two days with off-the-shelf components for less than 20 USD.

Source: IEEE/ASME Transactions on Mechatronics

DOI: 10.1109/tmech.2017.2654446

Authors: Jacob W. Guggenheim, Leif P. Jentoft, Yaroslav Tenzer, Robert D. Howe

Institutions: Massachusetts Institute of Technology, Harvard University

Language: English

Topic: Sensor Technology and Measurement Systems

Subfield: Computer Networks and Communications

Field: Computer Science

Domain: Physical Sciences

Open Access status: green

Funders: National Science Foundation, Defense Advanced Research Projects Agency

Awards: RI: Medium: Collaborative Research: Robotic Hands: Understanding and Implementing Adaptive Grasping, G4763728200