A MODULAR FORCE-TORQUE TRANSDUCER FOR REHABILITATION ROBOTICS

Milan Kvasnica
Technical University of Zvolen, T. G. Masaryka 24, SK-96053 Zvolen, Slovakia
G.R.A.S.P. Laboratory, School of Engineering and Applied Sciences
University of Pennsylvania, Philadelphia, PA 19104, USA
E-mail: mkvasnic@uvt.tuzvo.sk mkva@grip.cis.upenn.edu

Abstract

Intelligent sensory systems are an essential part of any system aimed at augmenting the functional capabilities of visually or mobility impaired persons. This paper describes a six-DOF force-torque sensor, originally designed for robotic and man-machine interface applications that can be used to improve the communication, control and safety of assitive systems. This modular force-torque sensor transduces three linear displacements and three rotations by measuring the incidence of four light or laser beams onto a photosensitive CCD array. This low-cost, force-torque sensors is easy to build and can be used in artificial arms or legs, range-incline finders, hand controllers for wheelchairs, keyboards for blind people and handwriting scanners.

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Last modified: Thu Jan 21 10:38:39 PST 1999