Joost van der Weijde — accepted AI-conference papers

2017

Influence of Internal Oscillations on Force Sensing in Coil Springs

Joost van der Weijde, Ron van Ostayen, Heike Vallery

RA-L 2017

Coil springs are a common element in compliant actuators. For closed-loop control, the force of the coil spring has to be measured. Typically, deflection sensors indirectly measure this force. Implicitly, this assumes that the coil spring is a pure stiffness, without any mass. In reality, internal o

Cited by 2 Source ↗Scholar ↗

2015

Force sensing for compliant actuators using coil spring inductance

Joost van der Weijde, Erik Vlasblom, Peter Dobbe, Heike Vallery, Michael Fritschi

IROS 2015poster

Coil springs are nowadays widely used in robotic applications, in particular in Series Elastic Actuators. The measurement of spring force, either via load cells or via position sensors, conventionally requires additional sensor hardware to be part of or parallel to the kinematic chain. In order to s…

Cited by 10 Source ↗Scholar ↗