Multi-Axis Force/Torque Sensor Based on Simply-Supported Beam and Optoelectronics.

This paper presents a multi-axis force/torque sensor based on simply-supported beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human-robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.

Study on the human perception of incipient and overall slippages using a 2D FE fingertip model.

Slippage on the fingertips is an important phenomenon that occurs constantly in our daily life. However, the mechanism behind the slippage, especially incipient slippage, which appears prior to overall slippage, has not been fully understood. In this paper, a 2D finite element (FE) model of the human fingertip was presented to study how the human fingertip perceives slippages. The 2D geometries of the fingertip were generated based on magnetic resonance (MR) images. The fingertip model consisted of four layers: epidermis, dermis, subcutaneous tissue, and distal phalanx. The microstructures of the intermediate and limiting ridges in between the epidermis and dermis layers were manually constructed to locate four types of mechanoreceptors. Simulations of pushing and sliding motions were implemented, and mechanical measures of the acceleration and strain energy density (SED) were investigated at the locations of the mechanoreceptors. We found that both incipient and overall slippages could be clearly detected using the acceleration signal captured by the FA-I and SA-I receptors. The SED measurement does not provide useful information for the slippage detection.

Disposable soft 3 axis force sensor for biomedical applications.

This paper proposes a new disposable soft 3D force sensor that can be used to calculate either force or displacement and vibrations. It uses three Hall Effect sensors orthogonally placed around a cylindrical beam made of silicon rubber. A niobium permanent magnet is inside the silicon. When a force is applied to the end of the cylinder, it is compressed and bent to the opposite side of the force displacing the magnet. This displacement causes change in the magnetic flux around the ratiomatric linear sensors (Hall Effect sensors). By analysing these changes, we calculate the force or displacement in three directions using a lookup table. This sensor can be used in minimal invasive surgery and haptic feedback applications. The cheap construction, bio-compatibility and ease of miniaturization are few advantages of this sensor. The sensor design, and its characterization are presented in this work.