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http://dx.doi.org/10.7736/KSPE.2013.30.5.520

5-D.O.F. Force/moment Sensor using Optical Intensity Modulation in MR-field  

Kim, Min Gyu (Department of Mechanical Design and Mechatronics, Graduated School of Hanyang Univ.)
Lee, Dong Hyeok (Department of Mechanical Design and Mechatronics, Graduated School of Hanyang Univ.)
Cho, Nahm Gyoo (Department of Mechanical Engineering, Hanyang Univ.)
Publication Information
Journal of the Korean Society for Precision Engineering / v.30, no.5, 2013 , pp. 520-528 More about this Journal
Abstract
A 20 mm diameter of small 5-D.O.F. force sensor has been developed for applications in MR-field Optical intensity modulation was adopted for transducing to miniaturize the sensor structure. For its accurate sensing of 5-D.O.F. force/moment, the elastic detecting module was designed to respond independently to each force or moment component. And for small size, two optical transducing modules of 2-D.O.F. and 3-D.O.F. were designed and integrated with the detecting module where optical fibers were arranged in parallel to make the sensor small. It is confirmed by calibration test that the detecting modules deforms linearly and independently to the input force. The results of evaluating test show that the range and resolution of forces are ${\pm}4$ N and 0.94~7.1 mN and the range and resolution of moments are ${\pm}120N{\cdot}mm$ and $0.023{\sim}0.034N{\cdot}mm$.
Keywords
Force sensing; MIS (minimally invasive surgery); optical intensity modulation; optical fiber;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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