Accurate modeling of low-cost piezoresistive force sensors for haptic interfaces

2010 ◽  
Author(s):  
L Paredes-Madrid ◽  
P Torruella ◽  
P Solaeche ◽  
I Galiana ◽  
P Gonzalez de Santos
Keyword(s):  
Low Cost ◽  
Force Sensors ◽  
Haptic Interfaces

3D-PRINTED LOW-COST MODULAR FORCE SENSORS

2017 ◽  
Author(s):  
F. WASSERFALL ◽  
N. HENDRICH ◽  
F. FIEDLER ◽  
J. ZHANG
Keyword(s):  
Low Cost ◽  
Force Sensors ◽  
3D Printed

Modeling and Evaluation of Low-Cost Force Sensors

2011 ◽  
Vol 27 (4) ◽  
pp. 815-822 ◽  
Author(s):  
C. Lebosse ◽  
P. Renaud ◽  
B. Bayle ◽  
M. de Mathelin
Keyword(s):  
Low Cost ◽  
Force Sensors

scholarly journals Developing a Low-Cost Force Treadmill via Dynamic Modeling

2017 ◽  
Vol 2017 ◽  
pp. 1-9
Author(s):  
Chih-Yuan Hong ◽  
Lan-Yuen Guo ◽  
Rong Song ◽  
Mark L. Nagurka ◽  
Jia-Li Sung ◽  
...  
Keyword(s):  
Low Cost ◽  
Reaction Force ◽  
Harmonic Distortion ◽  
Testing Procedure ◽  
Force Sensors ◽  
Force Transmission ◽  
Force Transducers ◽  
Exercise Treadmill ◽  
Track Surface ◽  
Spot Motion

By incorporating force transducers into treadmills, force platform-instrumented treadmills (commonly called force treadmills) can collect large amounts of gait data and enable the ground reaction force (GRF) to be calculated. However, the high cost of force treadmills has limited their adoption. This paper proposes a low-cost force treadmill system with force sensors installed underneath a standard exercise treadmill. It identifies and compensates for the force transmission dynamics from the actual GRF applied on the treadmill track surface to the force transmitted to the force sensors underneath the treadmill body. This study also proposes a testing procedure to assess the GRF measurement accuracy of force treadmills. Using this procedure in estimating the GRF of “walk-on-the-spot motion,” it was found that the total harmonic distortion of the tested force treadmill system was about 1.69%, demonstrating the effectiveness of the approach.

Design and Analysis of a Foot Contact Sensor for Posture Control of a Biped Robot

2010 ◽  
Author(s):  
Koray K. S¸afak ◽  
T. Batuhan Baturalp
Keyword(s):  
Postural Stability ◽  
Low Cost ◽  
Reaction Force ◽  
Biped Robot ◽  
Stability Control ◽  
Ease Of Use ◽  
Force Sensors ◽  
Biped Robots ◽  
Contact Sensor ◽  
Computation Scheme

Development of a planar biped robot is currently underway at Yeditepe University. The robot consists of lower extremities with a torso that are designed at anthropomorphic dimensions. This study describes the design and testing of a foot contact sensor for the biped robot. Dynamic stability of a biped robot is commonly measured by the zero moment point (ZMP) method. Experimentally, ZMP is measured by multi-component force/torque sensors. Due to their low cost and ease of use, force sensitive resistors (FSR) are used to build a foot contact sensor for the biped robot. Four FSRs are mounted at the corners of the robot’s foot to measure the ground reaction force and its moment. Hence, by utilizing the data from the foot contact sensors, a real-time ZMP computation scheme can be implemented. The performance of the designed foot contact sensor is presented by numerical simulations of a planar biped robot’s postural stability control. Results indicate that reaction force computation by the FSR based force sensors is a viable method to monitor postural stability of biped robots. Force sensors and their electronics are currently being built to be used for the actual tests.

Design of a Pressure Observer and its Application to a Low-Cost Pneumatic Control System

2011 ◽  
Vol 5 (4) ◽  
pp. 493-501 ◽  
Author(s):  
Takahiro Kosaki ◽  
◽  
Manabu Sano
Keyword(s):  
Control System ◽  
Control Systems ◽  
Low Cost ◽  
Force Sensors ◽  
Pneumatic Actuators ◽  
Pneumatic Control ◽  
Full State ◽  
Full State Feedback ◽  
High Control ◽  
Pressure Observer

The nonlinear pressure observer this paper presents for pneumatic systems and observer-based approaches for controlling position and stiffness eliminate the need for pressure and force sensors. The observer estimates pressure in the pneumatic actuator chamber, acting instead of a sensor in a pressure-feedbackbased system. Conventional single-loop controllers are inadequate for pneumatic actuators because such actuators have high nonlinearities such as air compressibility and friction. Most advanced controllers providing better performance require full-state feedback, and using sensors to acquire data makes pneumatic control systems less cost-competitive than electric control systems. Combining our proposed pressure observer with other observers enables a position and stiffness control system to be designed for a two degree-of-freedom pneumatic manipulator. Force caused in contact between the manipulator and an external object can be obtained without using force sensors. Experimental results show that our observerbased approach reduces cost, enables high estimation performance, and ensures high control accuracy.

Unwarping Encoder Ripple in Low Cost Haptic Interfaces

2006 ◽  
Author(s):  
D.A. Lawrence ◽  
L.Y. Pao ◽  
S. Aphanuphong
Keyword(s):  
Low Cost ◽  
Haptic Interfaces
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