| Title | A compact two DOF magneto-elastomeric force sensor for a running quadruped |
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| Publication Type | Conference Paper |
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| Year of Publication | 2012 |
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| Date Published | 05/2012 |
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| Authors | Ananthanarayanan, A., S. Foong, and S. Kim |
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| Conference Name | Robotics and Automation (ICRA), 2012 IEEE International Conference on |
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| Conference Location | Saint Paul, MN |
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| Publisher | IEEE |
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| Accession Number | 12847345 |
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| ISBN Number | 978-1-4673-1403-9 |
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| Abstract | This paper presents a novel design approach for a two-DOF foot force sensor for a high speed running quadruped. The adopted approach harnesses the deformation property of an elastomeric material to relate applied force to measurable deformation. A lightweight, robust and compact magnetic-field based sensing system, consisting of an assembly of miniature hall-effect sensors, is employed to infer the positional information of a magnet embedded in the elastomeric material. Instead of solving two non-linear models (magnetic field and elastomeric) sequentially, a direct approach of using artificial neural networks (ANN) is utilized to relate magnetic flux density (MFD) measurements to applied forces. The force sensor, which weighs only 24.5 gms, provides a measurement range of 0 - 1000 N normal to the ground and up to ± 125N parallel to the ground. The mean force measurement accuracy was found to be within 7% of the applied forces. The sensor designed as part of this work finds direct applications in ground reaction force sensing for a running quadrupedal robot. |
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| DOI | 10.1109/ICRA.2012.6225201 |
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| URL | http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6225201 |
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