Design and Calibration Experiment of a Novel Rigid-Flexible Hybrid Parallel Three-Dimensional Force Sensor With Deformability

To meet the requirement for multi-dimensional force sensor with flexibility in the field of human–robot interaction, a novel parallel 3-D force sensor with rigid–flexible hybrid component is proposed. The sensor can not only possess a high deformability, but also maintain constant transformation between the input and output forces in the whole deformable range. First, the static mathematical model of the sensor is established based on vector method. The isotropic performance of the sensor is then studied by using mathematical analytic approach, and the condition leading to isotropy is introduced. Furthermore, the influence of the main structural parameters on the sensor’s deformable range is analyzed. Based on that, a sensor prototype is fabricated. The calibration experiment and the moment effect experiment are performed. Experimental results prove the feasibility of the proposed sensor and the correctness of theoretical analysis. The study lays a foundation for the practical application of the novel 3-D force sensor.