By Topic

Modeling and Evaluation of Low-Cost Force Sensors

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
C. Lebosse ; Luxscan Technologies, Luxembourg ; P. Renaud ; B. Bayle ; M. de Mathelin

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.

Published in:

IEEE Transactions on Robotics  (Volume:27 ,  Issue: 4 )