IROS 2017poster3 citations
A novel POWERPACK for robotic application, integrated torque sensor, harmonic drive and motor
Yong Bum Kim, Uikyum Kim, Dong-Yeop Seok, Jinho So, Yoon Haeng Lee, Hyouk Ryeol Choi
Abstract
Force-sensing system represents one of the vital components of robotic systems for physical interaction performances. This system is facilitated by the force controllable actuators. However, to make a force controllable actuator, it is still a challenging subject for the majority of the robotic system. This paper proposes a novel POWERPACK unit integrated a torque sensor, a harmonic drive and a motor for enabling the force control. The torque sensing element is based on the capacitance sensing to achieve a compact and a simple structure. In this research, reveals the practical details of the POWERPACK and evaluates the performance of the actuator unit.
BibTeX
@inproceedings{iros2017_anovelpowerpackf,
title = {A novel POWERPACK for robotic application, integrated torque sensor, harmonic drive and motor},
author = {Yong Bum Kim and Uikyum Kim and Dong-Yeop Seok and Jinho So and Yoon Haeng Lee and Hyouk Ryeol Choi},
booktitle = {IROS 2017},
year = {2017}
}