Force calibration for an endovascular robotic system with proximal force measurement

2020 ◽  
Vol 16 (2) ◽  
Author(s):  
Naveen Kumar Sankaran ◽  
Pramod Chembrammel ◽  
Thenkurussi Kesavadas
Keyword(s):  
Force Measurement ◽  
Robotic System ◽  
Force Calibration

FORCE CALIBRATION OF NANO UNIVERSAL TESTING MACHINE USING MILLIGRAM WEIGHTS

2013 ◽  
Vol 24 ◽  
pp. 1360031
Author(s):  
CHUNG-LIN WU ◽  
CHING-FEN TUAN
Keyword(s):  
Force Measurement ◽  
Testing Machine ◽  
Calibration Method ◽  
Force Transducer ◽  
Force Measurements ◽  
Universal Testing Machine ◽  
Universal Testing ◽  
Small Force ◽  
Force Calibration ◽  
Force Range

This paper presents an approach for calibrating the force transducer on the nano universal testing machine using milligram weights. Previous research on force calibration of such a system focused on the range from 10 mN to 200 mN, ignoring forces below 10 mN. The main purpose of this study is to analyze and calculate the uncertainty of force measurements within the range from 0.2 mN to 10 mN. The ABA calibration method in accordance with OIML R111-1 is adopted to determine the uncertainty in force measurement. The results indicate that the maximum relative uncertainty of force measurement is 7.0 × 10−3 with a 95% confidence level. The investigation can be used as the basis for evaluating measurement uncertainty of the system in small force range.

scholarly journals Mechanical influences in sinusoidal force measurement

ACTA IMEKO ◽  
2015 ◽  
Vol 4 (2) ◽  
pp. 57 ◽  
Author(s):  
Christian Schlegel ◽  
Gabriela Kiekenap ◽  
Holger Kahmann ◽  
Rolf Kumme
Keyword(s):  
Standard Deviation ◽  
Measurement Uncertainty ◽  
Force Measurement ◽  
Force Transducer ◽  
Triaxial Accelerometer ◽  
Fem Model ◽  
Model Calculations ◽  
Excitation Frequencies ◽  
Force Calibration ◽  
Top Mass

The paper describes mechanical influences which disturb a sinusoidal force calibration and hence have an influence on measurement uncertainty. The measurements are based on the application of a scanning vibrometer and the use of triaxial accelerometers. The measuring of many acceleration points on the top mass of the transducer makes it possible to obtain acceleration distributions from which a standard deviation can be derived; the triaxial accelerometer allows the observance of certain effects, like rocking modes, or other problems related to specific excitation frequencies of the force transducer. Both measurements can be related to each other. The rocking effects are discussed with FEM model calculations.

FORCE MEASUREMENT SERVICES AT KEBS: AN OVERVIEW OF EQUIPMENT, PROCEDURES AND UNCERTAINTY

2013 ◽  
Vol 24 ◽  
pp. 1360010
Author(s):  
J. O. BANGI ◽  
S. M. MARANGA ◽  
S. P. NGANGA ◽  
S. M. MUTULI
Keyword(s):  
Force Measurement ◽  
Full Range ◽  
Accreditation Body ◽  
Measuring Instruments ◽  
National Metrology Institute ◽  
Measurement Capability ◽  
Force Transducers ◽  
Comparison Results ◽  
Class 1 ◽  
Force Calibration

This paper describes the facilities, instrumentation and procedures currently used in the force laboratory at the Kenya Bureau of Standards (KEBS) for force measurement services. The laboratory uses the Force Calibration Machine (FCM) to calibrate force-measuring instruments. The FCM derives its traceability via comparisons using reference transfer force transducers calibrated by the Force Standard Machines (FSM) of a National Metrology Institute (NMI). The force laboratory is accredited to ISO/IEC 17025 by the Germany Accreditation Body (DAkkS). The accredited measurement scope of the laboratory is 1 MN to calibrate force transducers in both compression and tension modes. ISO 376 procedures are used while calibrating force transducers. The KEBS reference transfer standards have capacities of 10, 50, 300 and 1000 kN to cover the full range of the FCM. The uncertainty in the forces measured by the FCM were reviewed and determined in accordance to the new EURAMET calibration guide. The relative expanded uncertainty of force W realized by FCM was evaluated in a range from 10 kN−1 MN, and was found to be 5.0 × 10−4 with the coverage factor k being equal to 2. The overall normalized error (En) of the comparison results was also found to be less than 1. The accredited Calibration and Measurement Capability (CMC) of the KEBS force laboratory was based on the results of those intercomparisons. The FCM enables KEBS to provide traceability for the calibration of class ‘1’ force instruments as per the ISO 376.

Research on a non-linear calibration method for dynamometer

Sensor Review ◽  
2020 ◽  
Vol 40 (2) ◽  
pp. 167-173
Author(s):  
Zhang Jun ◽  
Chang Qingbing ◽  
Ren Zongjin
Keyword(s):  
Force Measurement ◽  
Load Sharing ◽  
Calibration Method ◽  
Mapping Method ◽  
Linear Calibration ◽  
Content Type ◽  
Multiple Parameters ◽  
Non Linear ◽  
Force Calibration ◽  
The Relationship

Purpose The purpose of this paper is to solve the problem that the relationship between loading forces, which were applied at different positions on a plane, and output values of load-sharing dynamometer is non-linear. Design/methodology/approach First, the analytical model of ISPM (isodynamic surface proportional mapping method) method, which is used to calibrate dynamometer, was established. Then, a series of axial force calibration tests were performed on a load-sharing dynamometer at different loading positions. Finally, according to output values, calibration forces at different loading positions were calculated by ISPM method, and corresponding distribution histogram of calibration force error was generated. Findings The largest error between calculated force and standard force is 2.92 per cent, and the probability of calculated force error within 1 per cent is 91.03 per cent, which verify that the ISPM method is reliable for non-linear calibration of dynamometers. Originality/value The proposed ISPM method can achieve non-linear calibration between measured force and output signal of load-sharing dynamometer at different positions. In addition, ISPM method can also solve some complex non-linear problems, such as prediction of plane cutting force under the influence of multiple parameters, the force measurement of multi-degree-of-freedom platform and so on.

scholarly journals In-situ dynamic force calibration using impact hammers

ACTA IMEKO ◽  
2020 ◽  
Vol 9 (5) ◽  
pp. 118
Author(s):  
M. Kobusch ◽  
L. Klaus
Keyword(s):  
Transfer Functions ◽  
Force Measurement ◽  
Measurement Data ◽  
Calibration Method ◽  
Force Transducer ◽  
Experimental Investigations ◽  
Dynamic Force ◽  
In Situ Calibration ◽  
Force Calibration

This paper presents experimental investigations of in-situ dynamic force calibrations in which an impact hammer provides the dynamic reference force. Here, the force transducer to be calibrated remains in the original mechanical structure of the force measurement application to which calibration shock forces are applied in a suitable way. Numerous experiments with different force transducer set-ups and different impact hammer configurations were conducted to validate this in- situ calibration method. The paper describes the analysis of the measurement data and presents the force transfer functions obtained. Finally, these dynamic calibration results are discussed.

scholarly journals Force/position control of a robot manipulator for human-robot interaction

2016 ◽  
Vol 20 (suppl. 2) ◽  
pp. 537-548 ◽  
Author(s):  
Paramin Neranon ◽  
Robert Bicker
Keyword(s):  
Control System ◽  
Real Time ◽  
Position Control ◽  
Force Measurement ◽  
Robot Manipulator ◽  
Robotic System ◽  
Human Robot Interaction ◽  
Robot Interaction ◽  
Integral Control ◽  
Proportional Integral

With regard to both human and robot capabilities, human-robot interaction provides several benefits, and this will be significantly developed and implemented. This work focuses on the development of real-time external force/position control used for human-robot interaction. The force-controlled robotic system integrated with proportional integral control was performed and evaluated to ensure its reliably and timely operational characteristics, in which appropriate proportional integral gains were experimentally adopted using a set of virtual crank-turning tests. The designed robotic system is made up of a robot manipulator arm, an ATI Gamma multi-axis force/torque sensor and a real-time external PC based control system. A proportional integral controller has been developed to provide stable and robust force control on unknown environmental stiffness and motion. To quantify its effectiveness, the robotic system has been verified through a comprehensive set of experiments, in which force measurement and ALTER real-time path control systems were evaluated. In summary, the results indicated satisfactorily stable performance of the robot force/position control system. The gain tuning for proportional plus integral control algorithm was successfully implemented. It can be reported that the best performance as specified by the error root mean square method of the radial force is observed with proportional and integral gains of 0.10 and 0.005 respectively.

Evaluation of the fsa hand force measurement system

2006 ◽  
Author(s):  
Kihyo Jung ◽  
Heecheon You ◽  
Ochae Kwon
Keyword(s):  
Measurement System ◽  
Force Measurement ◽  
Hand Force ◽  
Force Measurement System
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