Modeling and evaluation of low cost force sensors - Archive ouverte HAL
Article Dans Une Revue IEEE Transactions on Robotics Année : 2011

Modeling and evaluation of low cost force sensors

Résumé

Low-cost piezoresistive sensors can be of great interest in robotic applications due not only to their advantageous cost but to their dimension as well, which enables an advanced mechanical integration. In this paper, a comparison of two commercial piezoresistive sensors based on different technologies is performed in the case of a medical robotics application. The existence of significant nonlinearities in their dynamic behavior is demonstrated, and a nonlinear modeling is proposed. A compensation scheme is developed for the sensor with the largest nonlinearities before discussing the selection of a sensor for dynamic applications. It is shown that force control is achievable with these kinds of sensors, in spite of their drawbacks. Experiments with both types of sensors are presented, including force control with a medical robot.

Domaines

Autre
Fichier non déposé

Dates et versions

hal-03931885 , version 1 (09-01-2023)

Identifiants

Citer

Cyrille Lebossé, Pierre Renaud, Bernard Bayle, Michel de Mathelin. Modeling and evaluation of low cost force sensors. IEEE Transactions on Robotics, 2011, 27 (4), pp.815-822. ⟨10.1109/TRO.2011.2119850⟩. ⟨hal-03931885⟩
14 Consultations
0 Téléchargements

Altmetric

Partager

More