Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Development and Application of Polymer-based Flexible Force Sensor Array

폴리머 재료를 이용한 유연 수직/수평 힘 센서 어레이 개발 및 응용

  • 황은수 (연세대학교 공과대학 기계공학부) ;
  • 윤영로 (연세대학교 보건과학대학 의공학부) ;
  • 윤형로 (연세대학교 보건과학대학 의공학부) ;
  • 신태민 (연세대학교 보건과학대학 의공학부) ;
  • 김용준 (연세대학교 공과대학 기계공학부)
  • Published : 2009.05.01
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Abstract

This paper proposes and demonstrates novel flexible contact force sensing devices for 3-dimensional force measurement. To realize the sensor, polyimide and polydimethylsiloxane are used as a substrate, which makes it flexible. Thin-film metal strain gauges, which are incorporated into the polymer, are used for measuring the three-dimensional contact forces. The force sensor characteristics are evaluated against normal and shear load. The fabricated force sensor can measure normal loads up to 4N. The sensor output signals are saturated against load over 4N. Shear loads can be detected by different voltage drops in strain gauges. The device has no fragile structures; therefore, it can be used as a ground reaction force sensor for balance control in humanoid robots. Four force sensors are assembled and placed in the four corners of the robot's sole. By increasing bump dimensions, the force sensor can measure load up to 20N. When loads are exerted on the sole, the ground reaction force can be measured by these four sensors. The measured forces can be used in the balance control of biped locomotion system.

Keywords

References

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