A novel force sensor with zero stiffness at contact transition based on optical line generation
Jeremy Begey, Mathieu Nierenberger, Pierre Pfeiffer, Sylvain Lecler, Pierre Renaud
Abstract
Robotization of medical acts often requires the evaluation of contacts between a robotic system and a patient, for safety or efficiency reasons. When contact occurs with a stiff environment, instabilities and vibrations can appear and a passive compliance is therefore needed. In this paper, we propose to embed compliance in a force sensor and to develop a novel force sensor with large compliance, i.e. a zero stiffness at contact transition to ease robot control. To get at the same time a satisfying measurement range and low off-axis sensitivity, an optical measurement process based on an optical line generated thanks to additive manufacturing is exploited. A compliant sensor body allowing the desired stiffness profile is presented and the specific optical measurement technique is developed. Finally, a prototype of the proposed force sensor is evaluated experimentally.
BibTeX
@inproceedings{icra2019_anovelforcesenso,
title = {A novel force sensor with zero stiffness at contact transition based on optical line generation},
author = {Jeremy Begey and Mathieu Nierenberger and Pierre Pfeiffer and Sylvain Lecler and Pierre Renaud},
booktitle = {ICRA 2019},
year = {2019}
}