ArticleSensors (Basel, Switzerland)2021
Rugged and Compact Three-Axis Force/Torque Sensor for Wearable Robots.
Article in Sensors (Basel, Switzerland), 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed, 12 citations in OpenAlex.
- Torque Measurement of Coupled Multi-Mechanism Connections for Vertical Replenishment of External Cargo on Shipborne Helicopters.Sensors (Basel, Switzerland) · 2026Article
- A Redundant-Sensing-Based Six-Axis Force/Torque Sensor Enabling Compactness and High Sensitivity.Sensors (Basel, Switzerland) · 2026Article
- Design Analysis and Isotropic Optimization for Miniature Capacitive Force/Torque Sensor.Sensors (Basel, Switzerland) · 2025Article
- Hardware Implementation for Triaxial Contact-Force Estimation from Stress Tactile Sensor Arrays: An Efficient Design Approach.Sensors (Basel, Switzerland) · 2024Article
- Novel Planar Strain Sensor Design for Capturing 3-Dimensional Fingertip Forces from Patients Affected by Hand Paralysis.Sensors (Basel, Switzerland) · 2022Article
Corrections and comments
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Authors and funding
6 authors at 2 institutions in 1 country.
Funding
No grant is acknowledged in the PubMed record.
Abstract
In the field of robotics, sensors are crucial in enabling the interaction between robots and their users. To ensure this interaction, sensors mainly measure the user's strength, and based on this, wearable robots are controlled. In this paper, we propose a novel three-axis force/torque sensor for wearable robots that is compact and has a high load capacity. The bolt and nut combination of the proposed sensor is designed to measure high-load weights, and the simple structure of this combination allows the sensor to be compact and light. Additionally, to measure the three-axis force/torque, we design three capacitance-sensing cells. These cells are arranged in parallel to measure the difference in capacitance between the positive and negative electrodes. From the capacitance change measured by these sensing cells, force/torque information is converted through deep neural network calibration. The sensing point can also be confirmed using the geometric and kinematic relation of the sensor. The proposed sensor is manufactured through a simple and inexpensive process using cheap and simply structured components. The performance of the sensor, such as its repeatability and capacity, is evaluated using several experimental setups. In addition, the sensor is applied to a wearable robot to measure the force of an artificial muscle.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.