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Contact force sensor for artificial hands with a digital interface for a controller
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DOI：10.1088/0957-0233/14/8/312.png)
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摘要
En 中文
A force sensor. for use with an artificial hand, needs to be small, robust, low power, cheap and easily interfaced to a controller using digital techniques. The prototype featured in this paper uses capacitance effects to measure the strain on an elastic polymer foam. Low power consumption results in a device that can be supplied from a miniature battery thereby requiring only signal wires to the controller. A non-linear model accurately describes the characteristic of the sensor, requiring the estimation of only three parameters. The device has been tested up to 20 N but is capable of measuring greater forces.
Keyword:
force
capacitance
polymer foam
non-linear model
artificial hands
robot feedback control
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