Load cell system designed to estimate interaction forces in robotic applications

This paper presents a force sensing system designed to estimate interaction forces in robotic applications. This system is composed by a S-type load cell that uses strain gauges as sensing technology and a printer circuit board (PCB) designed to convert the resistance change to voltage signals in order to process the data using the analog to digital converters of the STM32F3Discovery microcontroller. The adjustment results show a high linearity and performance of the whole systems, keeping a low economical cost. Moreover, the experimental results validate the effectiveness of the force sensing system.