広ダイナミックレンジ力覚検知技術の開発

抄録

This paper proposes a wide dynamic range force/torque sensing method. In this method, the force sensor is composed of two flexure elements having different stiffness. Wide dynamic range is achieved by switching the flexure elements. However, there is a problem that the output of the sensor changes suddenly when switching the flexure elements. The problem was figured out by the signal processing of the two output signals from the flexure elements. It was confirmed from the experiment that the proposed method can measure the small force at a high signal-noise ratio.