About the importance of revolute joints realization in force-sensitive drive interfaces for mobile robots and wheelchairs

Abstract

This paper presents SensHB.Q, a cost-effective force-torque sensitive interface designed to control omnidirectional motorized systems such as mobile robots, industrial trolleys, and electric-powered wheelchairs. Force-torque-sensitive interfaces are considered more intuitive to use with respect to joysticks since they mimic the way we interact with objects. The main characteristic of SensHB.Q is the fact that measures three components of the applied wrench using only uniaxial load cells, avoiding the adoption of expensive multi-axis force-torque sensors. This work focuses on the executive design of this interface to understand the improvements that can be achieved by using flexure hinges instead of conventional revolute joints in terms of measurement accuracy.