Compact design of a torque sensor using optical technique and its fabrication for wearable and quadruped robots
DC Field | Value | Language |
---|---|---|
dc.contributor.author | Shams, Sarmad | - |
dc.contributor.author | Shin, Dongik | - |
dc.contributor.author | Han, Jungsoo | - |
dc.contributor.author | Lee, Ji Yeong | - |
dc.contributor.author | Shin, Kyoosik | - |
dc.contributor.author | Han, Chang-Soo | - |
dc.date.accessioned | 2021-06-23T12:06:01Z | - |
dc.date.available | 2021-06-23T12:06:01Z | - |
dc.date.created | 2021-01-22 | - |
dc.date.issued | 2011-09 | - |
dc.identifier.issn | 2153-0858 | - |
dc.identifier.uri | https://scholarworks.bwise.kr/erica/handle/2021.sw.erica/39185 | - |
dc.description.abstract | This paper describes the compact design of a torque sensor using optical technique and its fabrication for wearable and quadruped robots. The torque generated can only be measured by placing torque sensor on each joint, which makes the joint bulky and heavy, adding extra load to be carried by robot. In this paper we proposed a compact and light weight design for the torque sensor. This sensor can measure torque of robots links by detecting torsion. The optical technique is used to detect angular displacement in the joints. The torque can be calculated by using torque and twist-angle relation. The proposed design is simulated by FEM software (ANSYS) and it shows successful measurements of the torque with a load capacity of 50 Nm, which is sufficient for the torque generated in wearable and quadruped robots joints. The designed optical torque sensor is manufactured by EDM (Electrical Discharge Machining). The optical torque sensor was calibrated and several experiments were conducted to ratify its feasibility with the wearable and quadruped robots. © 2011 IEEE. | - |
dc.language | 영어 | - |
dc.language.iso | en | - |
dc.publisher | Institute of Electrical and Electronics Engineers Inc. | - |
dc.title | Compact design of a torque sensor using optical technique and its fabrication for wearable and quadruped robots | - |
dc.type | Article | - |
dc.contributor.affiliatedAuthor | Lee, Ji Yeong | - |
dc.contributor.affiliatedAuthor | Shin, Kyoosik | - |
dc.identifier.doi | 10.1109/IROS.2011.6048255 | - |
dc.identifier.scopusid | 2-s2.0-84455206442 | - |
dc.identifier.wosid | 000297477505074 | - |
dc.identifier.bibliographicCitation | IEEE International Conference on Intelligent Robots and Systems, pp.5127 - 5132 | - |
dc.relation.isPartOf | IEEE International Conference on Intelligent Robots and Systems | - |
dc.citation.title | IEEE International Conference on Intelligent Robots and Systems | - |
dc.citation.startPage | 5127 | - |
dc.citation.endPage | 5132 | - |
dc.type.rims | ART | - |
dc.type.docType | Conference Paper | - |
dc.description.journalClass | 1 | - |
dc.description.isOpenAccess | N | - |
dc.description.journalRegisteredClass | scie | - |
dc.description.journalRegisteredClass | scopus | - |
dc.relation.journalResearchArea | Computer Science, Engineering, Robotics | - |
dc.relation.journalWebOfScienceCategory | Computer Science, Artificial Intelligence, Computer Science, Information Systems, Engineering, Electrical & Electronic, Robotics | - |
dc.subject.keywordPlus | Angular displacement | - |
dc.subject.keywordPlus | Compact designs | - |
dc.subject.keywordPlus | Electrical discharge machining | - |
dc.subject.keywordPlus | Lightweight design | - |
dc.subject.keywordPlus | Load capacity | - |
dc.subject.keywordPlus | Optical technique | - |
dc.subject.keywordPlus | Optical torque sensor | - |
dc.subject.keywordPlus | Quadruped Robots | - |
dc.subject.keywordPlus | Torque sensors | - |
dc.subject.keywordPlus | Electric discharges | - |
dc.subject.keywordPlus | Intelligent robots | - |
dc.subject.keywordPlus | Multipurpose robots | - |
dc.subject.keywordPlus | Robotics | - |
dc.subject.keywordPlus | Sensors | - |
dc.subject.keywordPlus | Torque | - |
dc.subject.keywordPlus | Torque meters | - |
dc.subject.keywordPlus | Machine design | - |
dc.identifier.url | https://ieeexplore.ieee.org/document/6094590 | - |
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