Miniature force-torque sensor using semiconductor strain gage sensor frame design and analysis for development

Abstract

In order for a robot to handle various objects and perform or assist the tasks of a person, the robot has to be similar to the hand of a human and manipulation tools with the same functions were necessary. To properly perform such object manipulation functions, research and development of manipulation tools with integrated sensor technology utilizing sensors are being pursued. Although the force-torque sensor is the most general among such sensor technologies, miniaturization is necessary in order to apply the sensor to an intricate manipulation tool such as that of the human hand. In this regard, this study is about the sensor frame design and analysis for the development of a miniature force-torque sensor.