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On a design of a torque sensor for the iCub humanoid robot

Sieklicki, Wiktor ; Becchi, Francesco



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Abstract:
The paper presents the evaluation process of a first version of the one axis torque sensor designed for the iCub humanoid robot. Newly designed strain gauges equipped sensor was found to show a significant readouts hysteresis, therefore several tests were run to define the reason of the hysteresis. Some of the design issues met while testing the new sensor are discussed including the screws connection and relative rigidity of the sensor's elements analyses. Verification of the assembly procedure is also included. Tests revealed several problems on both design stage and exploitation of the sensor. Possible solutions to the encountered problems are further proposed.


Keywords: torque sensor , strain gauge , friction , fatigue analysis
Institution: Research Institute for Cognition and Robotics (CoR-Lab)
DDC classification: Data processing, computer science, computer systems

Suggested Citation:
Wiktor Sieklicki, Francesco Becchi, On a design of a torque sensor for the iCub humanoid robot. Proceedings of the Post-Graduate Conference on Robotics and Development of Cognition, J. Szufnarowska, Ed., September 2012


URL: http://biecoll.ub.uni-bielefeld.de/volltexte/2012/5245



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