Development of joint torque sensor applied to compensate crosstalk error

Seung Yun Choi, Tae Keun Kim, Dong Yeop Kim, Bong Seok Kim, Jung Hoon Hwang, Chang Woo Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

For force control of robot and collision detection with humans, robots that has joint torque sensors have been developed. However, existing torque sensors cannot measure correct torque because of crosstalk error. In order to solve this problem, we proposed a novel torque sensor that can measure the pure torque without crosstalk. The hexaform of the proposed sensor with truss structure increase deformation of the sensor and restoration, and the Wheatstone bridge circuit of strain gauge removes crosstalk error. Sensor performance is verified with FEM analysis.

Original languageEnglish
Title of host publication2012 IEEE International Conference on Automation Science and Engineering
Subtitle of host publicationGreen Automation Toward a Sustainable Society, CASE 2012
Pages1086-1088
Number of pages3
DOIs
Publication statusPublished - 2012
Externally publishedYes
Event2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 - Seoul, Korea, Republic of
Duration: 2012 Aug 202012 Aug 24

Publication series

NameIEEE International Conference on Automation Science and Engineering
ISSN (Print)2161-8070
ISSN (Electronic)2161-8089

Other

Other2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012
CountryKorea, Republic of
CitySeoul
Period12/8/2012/8/24

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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  • Cite this

    Choi, S. Y., Kim, T. K., Kim, D. Y., Kim, B. S., Hwang, J. H., & Park, C. W. (2012). Development of joint torque sensor applied to compensate crosstalk error. In 2012 IEEE International Conference on Automation Science and Engineering: Green Automation Toward a Sustainable Society, CASE 2012 (pp. 1086-1088). [6386505] (IEEE International Conference on Automation Science and Engineering). https://doi.org/10.1109/CoASE.2012.6386505