Towards Scalable Strain Gauge-Based Joint Torque Sensors

Towards Scalable Strain Gauge-Based Joint Torque Sensors

During recent decades, strain gauge-based joint torque sensors have been commonly used to provide high-fidelity torque measurements in robotics. Although measurement of joint torque/force is often required in engineering research and development, the gluing and wiring of strain gauges used as torque sensors pose difficulties during integration within the restricted space available in small join...

A Strain Gauge Torque Transducer Calibration Study

-This paper presents for the study of torque transducer (torque sensor) calibration built into a rotating shaft, in this case uses strain gauge, which was done with, and the output signal of the "voltage (mV/V)" has been taken for each weight, increasing and decreasing the weights. The data have been taken three times which they have been divided into three series. First and foremost, the avera...

Torque Sensors for Robot Joint Control

In the field of service robotics, there is a growing need for robots capable of physical interaction with humans to assist with daily life tasks. The desired coexistence of robotic systems and humans in the same physical domain (sharing the same workspace and actually cooperating in a physical manner) poses very fundamental problem of ensuring safety to the user and robot. Even without wrong pr...

Direct Torque Measurement of Hermetic Rotary Compressors Using Strain Gauge

Virtual Passive Controller for Robot Systems Using Joint Torque Sensors

This paper presents a control method based on virtual passive dynamic control that will stabilize a robot manipulator using joint torque sensors and a simple joint model. The method does not require joint position or velocity feedback for stabilization. The proposed control method is stable in the sense of Lyaponov. The control method was implemented onseveral joints of a laboratory robot. The ...