Angled sensor configuration capable of measuring tri-axial forces for pHRI

Reeks, C; Carmichael, MG; Liu, D; Waldron, KJ

Angled sensor configuration capable of measuring tri-axial forces for pHRI

Reeks, C Carmichael, MG

Liu, D

Waldron, KJ

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Publication Type:: Conference Proceeding
Citation:: Proceedings - IEEE International Conference on Robotics and Automation, 2016, 2016-June pp. 3089 - 3094
Issue Date:: 2016-06-08

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Field	Value	Language
dc.contributor.author	Reeks, C	en_US
dc.contributor.author	Carmichael, MG https://orcid.org/0000-0001-8439-0074	en_US
dc.contributor.author	Liu, D https://orcid.org/0000-0002-1581-5582	en_US
dc.contributor.author	Waldron, KJ https://orcid.org/0000-0002-7910-4907	en_US
dc.date.issued	2016-06-08	en_US
dc.identifier.citation	Proceedings - IEEE International Conference on Robotics and Automation, 2016, 2016-June pp. 3089 - 3094	en_US
dc.identifier.isbn	9781467380263	en_US
dc.identifier.issn	1050-4729	en_US
dc.identifier.uri	http://hdl.handle.net/10453/44156
dc.description.abstract	© 2016 IEEE. This paper presents a new configuration for single axis tactile sensor arrays molded in rubber to enable tri-axial force measurement. The configuration requires the sensing axis of each sensor in the array to be rotated out of alignment with respect to external forces. This angled sensor array measures shear forces along axes in a way that is different to a planar sensor array. Three sensors using the angled configuration (22.5°, 45° and 67.5°) and a fourth sensor using the planar configuration (0°) have been fabricated for experimental comparison. Artificial neural networks were trained to interpret the external force applied along each axis (X, Y and Z) from raw pressure sensor values. The results show that the angled sensor configuration is capable of measuring tri-axial external forces with a root mean squared error of 1.79N, less error in comparison to the equivalent sensor utilizing the planar configuration (4.52N). The sensors are then implemented to control a robotic arm. Preliminary findings show angled sensor arrays to be a viable alternative to planar sensor arrays for shear force measurement; this has wide applications in physical Human Robot Interaction (pHRI).	en_US
dc.relation	http://purl.org/au-research/grants/arc/LP140100950
dc.relation.ispartof	Proceedings - IEEE International Conference on Robotics and Automation	en_US
dc.relation.isbasedon	10.1109/ICRA.2016.7487475	en_US
dc.title	Angled sensor configuration capable of measuring tri-axial forces for pHRI	en_US
dc.type	Conference Proceeding
utslib.citation.volume	2016-June	en_US
utslib.for	0913 Mechanical Engineering	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology/School of Mechanical and Mechatronic Engineering
pubs.organisational-group	/University of Technology Sydney/Strength - CAS - Centre for Autonomous Systems
utslib.copyright.status	open_access
pubs.publication-status	Published	en_US
pubs.volume	2016-June	en_US

Abstract:

© 2016 IEEE. This paper presents a new configuration for single axis tactile sensor arrays molded in rubber to enable tri-axial force measurement. The configuration requires the sensing axis of each sensor in the array to be rotated out of alignment with respect to external forces. This angled sensor array measures shear forces along axes in a way that is different to a planar sensor array. Three sensors using the angled configuration (22.5°, 45° and 67.5°) and a fourth sensor using the planar configuration (0°) have been fabricated for experimental comparison. Artificial neural networks were trained to interpret the external force applied along each axis (X, Y and Z) from raw pressure sensor values. The results show that the angled sensor configuration is capable of measuring tri-axial external forces with a root mean squared error of 1.79N, less error in comparison to the equivalent sensor utilizing the planar configuration (4.52N). The sensors are then implemented to control a robotic arm. Preliminary findings show angled sensor arrays to be a viable alternative to planar sensor arrays for shear force measurement; this has wide applications in physical Human Robot Interaction (pHRI).

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http://hdl.handle.net/10453/44156