The Experts below are selected from a list of 9312 Experts worldwide ranked by ideXlab platform
Kawal Rhode - One of the best experts on this subject based on the ideXlab platform.
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multi axis force torque sensor based on Simply Supported Beam and optoelectronics
Sensors, 2016Co-Authors: Yohan Noh, Helge Wurdemann, Jan Fraś, Damith Suresh Chathuranga, Sina Sareh, Joao Bimbo, James Housden, Hongbin Liu, Kaspar Althoefer, Kawal RhodeAbstract:This paper presents a multi-axis force/torque sensor based on Simply-Supported Beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.
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a new miniaturised multi axis force torque sensors based on optoelectronic technology and Simply Supported Beam
Intelligent Robots and Systems, 2016Co-Authors: Joao Bimbo, Helge Wurdemann, Kawal Rhode, James Housden, Agostino Stilli, Kaspar AlthoeferAbstract:This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves integrally with a Simply-Supported Beam. The proposed mechanical structure allows for a variety of shapes on the mechanical structure to be easily adaptable to many robot applications. In this paper, we present a five-axis force/torque sensor based on this optoelectronic principle. To measure force/torque components, two identical three-DoF force/torque sensor structures (comprised of three Beams) are mounted on top of each other. Photo sensors and mirrors are fixed inside the structure to measure the six Beam deflections. In this paper, we describe the sensor structure, design, fabrication, calibration, and verify our sensor development methodology.
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A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and Simply-Supported Beam
IEEE International Conference on Intelligent Robots and Systems, 2016Co-Authors: Yohan Noh, Helge Wurdemann, Joao Bimbo, Kawal Rhode, James Housden, Hongbin Liu, Agostino Stilli, Kaspar AlthoeferAbstract:This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves integrally with a Simply-Supported Beam. The proposed mechanical structure allows for a variety of shapes on the mechanical structure to be easily adaptable to many robot applications. In this paper, we present a five-axis force/torque sensor based on this optoelectronic principle. To measure force/torque components, two identical three-DoF force/torque sensor structures (comprised of three Beams) are mounted on top of each other. Photo sensors and mirrors are fixed inside the structure to measure the six Beam deflections. In this paper, we describe the sensor structure, design, fabrication, calibration, and verify our sensor development methodology.
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Multi-Axis force/torque sensor based on Simply-Supported Beam and optoelectronics
Sensors (Switzerland), 2016Co-Authors: Yohan Noh, Helge Wurdemann, Jan Fraś, Damith Suresh Chathuranga, Sina Sareh, Joao Bimbo, James Housden, Hongbin Liu, Kaspar Althoefer, Kawal RhodeAbstract:This paper presents a multi-axis force/torque sensor based on Simply-Supported Beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.
Kaspar Althoefer - One of the best experts on this subject based on the ideXlab platform.
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multi axis force torque sensor based on Simply Supported Beam and optoelectronics
Sensors, 2016Co-Authors: Yohan Noh, Helge Wurdemann, Jan Fraś, Damith Suresh Chathuranga, Sina Sareh, Joao Bimbo, James Housden, Hongbin Liu, Kaspar Althoefer, Kawal RhodeAbstract:This paper presents a multi-axis force/torque sensor based on Simply-Supported Beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.
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a new miniaturised multi axis force torque sensors based on optoelectronic technology and Simply Supported Beam
Intelligent Robots and Systems, 2016Co-Authors: Joao Bimbo, Helge Wurdemann, Kawal Rhode, James Housden, Agostino Stilli, Kaspar AlthoeferAbstract:This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves integrally with a Simply-Supported Beam. The proposed mechanical structure allows for a variety of shapes on the mechanical structure to be easily adaptable to many robot applications. In this paper, we present a five-axis force/torque sensor based on this optoelectronic principle. To measure force/torque components, two identical three-DoF force/torque sensor structures (comprised of three Beams) are mounted on top of each other. Photo sensors and mirrors are fixed inside the structure to measure the six Beam deflections. In this paper, we describe the sensor structure, design, fabrication, calibration, and verify our sensor development methodology.
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A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and Simply-Supported Beam
IEEE International Conference on Intelligent Robots and Systems, 2016Co-Authors: Yohan Noh, Helge Wurdemann, Joao Bimbo, Kawal Rhode, James Housden, Hongbin Liu, Agostino Stilli, Kaspar AlthoeferAbstract:This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves integrally with a Simply-Supported Beam. The proposed mechanical structure allows for a variety of shapes on the mechanical structure to be easily adaptable to many robot applications. In this paper, we present a five-axis force/torque sensor based on this optoelectronic principle. To measure force/torque components, two identical three-DoF force/torque sensor structures (comprised of three Beams) are mounted on top of each other. Photo sensors and mirrors are fixed inside the structure to measure the six Beam deflections. In this paper, we describe the sensor structure, design, fabrication, calibration, and verify our sensor development methodology.
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Multi-Axis force/torque sensor based on Simply-Supported Beam and optoelectronics
Sensors (Switzerland), 2016Co-Authors: Yohan Noh, Helge Wurdemann, Jan Fraś, Damith Suresh Chathuranga, Sina Sareh, Joao Bimbo, James Housden, Hongbin Liu, Kaspar Althoefer, Kawal RhodeAbstract:This paper presents a multi-axis force/torque sensor based on Simply-Supported Beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.
S.o. Reza Moheimani - One of the best experts on this subject based on the ideXlab platform.
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Spatial system identification of a Simply Supported Beam and a trapezoidal cantilever plate
IEEE Transactions on Control Systems Technology, 2003Co-Authors: A.j. Fleming, S.o. Reza MoheimaniAbstract:Dynamic models of structural and acoustic systems are usually obtained by means of either modal analysis or finite element modeling. Detrimentally, both techniques rely on a comprehensive knowledge of the system's physical properties. As a consequence, experimental data and a nonlinear optimization are required to refine the model. For the purpose of control, system identification is often employed to estimate the dynamics from disturbance and command inputs to set of outputs. Such discretization of a spatially distributed system places unknown weightings on the control objective, in many cases, contradicting the original goal of optimal control. This paper introduces a frequency domain system identification technique aimed at obtaining spatially continuous models for a class of distributed parameter systems. The technique is demonstrated by identifying a Simply Supported Beam and a trapezoidal cantilever plate, both with bonded piezoelectric transducers. The plate's dimensions are based on the scaled side elevation of a McDonnell Douglas FA-18 vertical stabilizer.
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Spatial system identification of a Simply Supported Beam and a trapezoidal cantilever plate
Proceedings of the 41st IEEE Conference on Decision and Control 2002., 2002Co-Authors: A. Fleming, S.o. Reza MoheimaniAbstract:Dynamic models of structural and acoustic systems are usually obtained by means of modal analysis or finite element modelling. To their detriment, both techniques rely on a comprehensive knowledge of the system's physical properties. Experimental data and a nonlinear optimization is often required to refine the model. For the purpose of control, system identification is often employed to estimate the dynamics from disturbance and command inputs to a set of outputs. Such discretization of a spatially distributed system places further unknown weightings on the control objective, in many cases, contradicting the original goal of optimal control. This paper introduces a frequency domain system identification technique aimed at obtaining spatially continuous models for a class of distributed parameter systems. The technique is demonstrated by identifying a Simply Supported Beam and trapezoidal cantilever plate, both with bonded piezoelectric transducers. The plate's dimensions are based on the scaled front elevation of a McDonnell Douglas FA-18 vertical stabilizer.
Yohan Noh - One of the best experts on this subject based on the ideXlab platform.
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multi axis force torque sensor based on Simply Supported Beam and optoelectronics
Sensors, 2016Co-Authors: Yohan Noh, Helge Wurdemann, Jan Fraś, Damith Suresh Chathuranga, Sina Sareh, Joao Bimbo, James Housden, Hongbin Liu, Kaspar Althoefer, Kawal RhodeAbstract:This paper presents a multi-axis force/torque sensor based on Simply-Supported Beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.
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A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and Simply-Supported Beam
IEEE International Conference on Intelligent Robots and Systems, 2016Co-Authors: Yohan Noh, Helge Wurdemann, Joao Bimbo, Kawal Rhode, James Housden, Hongbin Liu, Agostino Stilli, Kaspar AlthoeferAbstract:This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves integrally with a Simply-Supported Beam. The proposed mechanical structure allows for a variety of shapes on the mechanical structure to be easily adaptable to many robot applications. In this paper, we present a five-axis force/torque sensor based on this optoelectronic principle. To measure force/torque components, two identical three-DoF force/torque sensor structures (comprised of three Beams) are mounted on top of each other. Photo sensors and mirrors are fixed inside the structure to measure the six Beam deflections. In this paper, we describe the sensor structure, design, fabrication, calibration, and verify our sensor development methodology.
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Multi-Axis force/torque sensor based on Simply-Supported Beam and optoelectronics
Sensors (Switzerland), 2016Co-Authors: Yohan Noh, Helge Wurdemann, Jan Fraś, Damith Suresh Chathuranga, Sina Sareh, Joao Bimbo, James Housden, Hongbin Liu, Kaspar Althoefer, Kawal RhodeAbstract:This paper presents a multi-axis force/torque sensor based on Simply-Supported Beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.
Joao Bimbo - One of the best experts on this subject based on the ideXlab platform.
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multi axis force torque sensor based on Simply Supported Beam and optoelectronics
Sensors, 2016Co-Authors: Yohan Noh, Helge Wurdemann, Jan Fraś, Damith Suresh Chathuranga, Sina Sareh, Joao Bimbo, James Housden, Hongbin Liu, Kaspar Althoefer, Kawal RhodeAbstract:This paper presents a multi-axis force/torque sensor based on Simply-Supported Beam and optoelectronic technology. The sensor’s main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.
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a new miniaturised multi axis force torque sensors based on optoelectronic technology and Simply Supported Beam
Intelligent Robots and Systems, 2016Co-Authors: Joao Bimbo, Helge Wurdemann, Kawal Rhode, James Housden, Agostino Stilli, Kaspar AlthoeferAbstract:This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves integrally with a Simply-Supported Beam. The proposed mechanical structure allows for a variety of shapes on the mechanical structure to be easily adaptable to many robot applications. In this paper, we present a five-axis force/torque sensor based on this optoelectronic principle. To measure force/torque components, two identical three-DoF force/torque sensor structures (comprised of three Beams) are mounted on top of each other. Photo sensors and mirrors are fixed inside the structure to measure the six Beam deflections. In this paper, we describe the sensor structure, design, fabrication, calibration, and verify our sensor development methodology.
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A new miniaturised multi-axis force/torque sensors based on optoelectronic technology and Simply-Supported Beam
IEEE International Conference on Intelligent Robots and Systems, 2016Co-Authors: Yohan Noh, Helge Wurdemann, Joao Bimbo, Kawal Rhode, James Housden, Hongbin Liu, Agostino Stilli, Kaspar AlthoeferAbstract:This paper presents a methodology for the development of a multi-axis force/torque sensor based on optoelectronic technology. The advantages of using this sensing principle are the low manufacturing costs, the simple fabrication, and the immunity to electrical noise. The force/ torque sensor makes use of six optical sensors: each sensor measures the displacement of a reflective surface that moves integrally with a Simply-Supported Beam. The proposed mechanical structure allows for a variety of shapes on the mechanical structure to be easily adaptable to many robot applications. In this paper, we present a five-axis force/torque sensor based on this optoelectronic principle. To measure force/torque components, two identical three-DoF force/torque sensor structures (comprised of three Beams) are mounted on top of each other. Photo sensors and mirrors are fixed inside the structure to measure the six Beam deflections. In this paper, we describe the sensor structure, design, fabrication, calibration, and verify our sensor development methodology.
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Multi-Axis force/torque sensor based on Simply-Supported Beam and optoelectronics
Sensors (Switzerland), 2016Co-Authors: Yohan Noh, Helge Wurdemann, Jan Fraś, Damith Suresh Chathuranga, Sina Sareh, Joao Bimbo, James Housden, Hongbin Liu, Kaspar Althoefer, Kawal RhodeAbstract:This paper presents a multi-axis force/torque sensor based on Simply-Supported Beam and optoelectronic technology. The sensor's main advantages are: (1) Low power consumption; (2) low-level noise in comparison with conventional methods of force sensing (e.g., using strain gauges); (3) the ability to be embedded into different mechanical structures; (4) miniaturisation; (5) simple manufacture and customisation to fit a wide-range of robot systems; and (6) low-cost fabrication and assembly of sensor structure. For these reasons, the proposed multi-axis force/torque sensor can be used in a wide range of application areas including medical robotics, manufacturing, and areas involving human–robot interaction. This paper shows the application of our concept of a force/torque sensor to flexible continuum manipulators: A cylindrical MIS (Minimally Invasive Surgery) robot, and includes its design, fabrication, and evaluation tests.
