A haptic interface typically only senses the motion of the interface and provides a force for haptic feedback. It does not sense the force/torque applied by the human operator on the interface. The applied human force can be useful for controlling the haptic interface as a manipulator (as in bilateral teleoperation) and for interpreting operator intent. This paper describes a custom 3D-printed 6-DOF human interaction force sensor designed for the Novint Falcon haptic interface which costs two orders magnitude less than commercial 6-DOF force sensors. The sensor design uses a Maltese cross configuration with integrated electronics and features for attachment to the Falcon. Finite element analysis of the 6-DOF sensor was used to optimize strain gauge placements and for evaluating design changes. The sensor was 3D printed in PLA using a low-cost hobbyist printer. Calibration and testing results of the sensor prototype indicate that the sensor has good linearity and sensitivity, minimal cross-coupling between axes and a force range and responsiveness that are suited for the haptic interface application.
|Original language||English (US)|
|Title of host publication||2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - Jul 12 2021|
|Event||2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands|
Duration: Jul 12 2021 → Jul 16 2021
|Name||2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)|
|Conference||2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021|
|Period||7/12/21 → 7/16/21|
Bibliographical notePublisher Copyright:
© 2021 IEEE.
- 3D Printing
- Force Sensing
- Haptic interface