Capacitive 6-Axis Force/Torque(F/T) sensor


 

  A novel 6-axis force/torque (F/T) sensor enables measuring six orthogonal F/T components at a material point on the sensor’s surface. The sensing part of the sensor can be designed as a single printed circuit board and a ground plate, making it possible to build a lightweight 6-axis F/T sensor integrating all electronic components, with very simple manufacturing and assembly processes and at an extremely low cost. Therefore, its mass production and customization will also be possible. An automated F/T transformation method including linear fit calibration is also applied to obtain the 6-axis F/T value. The sensor is developed and evaluated, and its performance compared with a commercial 6-axis F/T sensor. As shown in the figure, the sensors of various sizes were developed. Using the capacitance sensing principle, a joint torque sensor is also developed that is installed into robot’s joint for measuring the joint torque value.

 

 

 

 

 

 


Robotic Applications


 

 


Commercialization


 

  Technological skills of the developed 6-axis F/T sensor was transferred to a company named “ROBOTOUS”. Now, 6-axis F/T sensors of several size were already commercialized.

(“RFT Series”, Ref: http://www.robotous.com/forcetorquesensor).

 

 

 

 

  6-axis F/T sensor are used in a variety of robotic applications such as industrial robot, service robot, rehabilitation robot, medical robot, military robot, game & entertainment, virtual reality(VR)/augmented reality(AR), and so on.

  As presented in the figures, the developed 6-axis F/T sensor was installed to the robot hand (Allegro), which can conduct force-feedback controlled tasks such as part insertion and object recognition. The sensor is also applied to the robot arm (UR10). Therefore, the force-feedback controlled system is able to conduct the direct teaching as well as  deburring, polishing and grinding process performed in industrial robotic process.

 

 

 

 

 


Publications


 

 


Project


 

  • 중소기업청 (Small & Medium Business Administration(SMBA)) 

  • Development of Capacitive-type 6-axis Force/Torque Sensor

    (2015. 6. 1 - 2016. 5. 31)

    산업통상자원부 (Ministry of Trade, industry & Energy(MI, Korea))

    Development of Capacitive-type 6-axis Force/Torque Sensor

    (2015. 9. 1 - 2016. 8. 31)

     

  • • Uikyum Kim, Dong-Hyuk Lee, Yong Bum Kim, Dong-Yeop Seok, and Hyouk Ryeol Choi, “A Novel 6-Axis Force/Torque Sensor for Robotic Applications”, IEEE/ASME Transactions on Mechatronics, Online Published, 2016.

    • Dong-Hyuk Lee, Uikyum Kim, Hosang Jung, and Hyouk Ryeol Choi, “A Capacitive Type Novel 6-Axis Force/Torque Sensor for Robotic Applications”, IEEE Sensors Journal, vol. 16, no. 8, pp. 2290–2299, 2016.

    • Yong Bum kim, Uikyum Kim, Dong-Yeop Seok, Jinho So, Hyouk Ryeol Cho, “A Novel Capacitive type Torque Sensor for Robotic Applications”, IEEE Advanced Intelligent Mechatronics (AIM), 2016, pp. 993-998.

    • Yong Bum Kim, Uikyum Kim, Dong-Yeop Seok, Jinho So, and Hyouk Ryeol Choi, "Design of Novel Capacitive type Torque Sensor for Robotic Applications",  International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2016, pp. 256-258.

    • 김의겸, 최혁렬, “정전용량형 6축 힘/토크 센서 기술”, 한국로봇공학회지, 봄호 pp. 33–37, 2015.

    • Yong Bum Kim, Uikyum Kim, Dong-Yeop Seok, and Hyouk Ryeol Choi, “Design and realization of capacitive-type torque sensor decoupling the external interferences”, 2015년 한국센서학회 종합학술대회, 2015.

 


Researcher


 

Uikyum Kim, Yong Bum Kim, Dong-Yeop Seok