Soft Sensor Unit for Measurement of Large Scale Multi-axis Force

Eunseok Song, Seongbin An, Hyunjin Choi, Kyoungchul Kong

2022 The 13th Asian Control Conference (ASCC 2022)

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저자 : Eunseok Song, Seongbin An, Hyunjin Choi, Kyoungchul Kong
논문명 : Soft Sensor Unit for Measurement of Large Scale Multi-axis Force
학회명 : 2022 The 13th Asian Control Conference (ASCC 2022)
발간년도 : 2022
발간년도 : 2022
발간월 : May
초록 : Many robotic applications that physically interactwith humans require the measurement of interaction forces toensure accurate control as well as safety. Devices that are directlyattached to the human body, such as wearable devices, mustuse soft and flexible materials to be comfortable and safe. Mostsoft sensors cannot measure large amounts of force becausesoft materials can easily deform and break when subjected tolarge forces. In this paper, we present a soft force measurementunit (sFMU) that can measure three-axis force. The proposedsFMU is made of three polyurethane air sacs radially alignedin silicone rubber. The volume of each air sac is 15 ml andthe size of the cylindrical sFMU is 50 mm in diameter and 20mm in height. Depending on the magnitude and direction of theforce applied to the sFMU, the volume of each air sac changesand so does the internal pressure. The simple manufacturingprocess of sFMU using inexpensive materials is also introduced.Experimental validation shows that the sFMU can measure upto 160N for z-axis force with 6.51 RMSE, up to 15N for x-axiswith 1.63 RMSE, and up to 15N for y-axis with 2.79 RMSE

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