Novel Force Sensor for Robotics

Improvements in force/stress sensors are required for a variety of robotic applications, especially for finger/hand operation, which requires very small and sensitive sensors which are not available in the current generation of commercial sensors. During the Phase I program, the potential utility of a new type of sensor was demonstrated in a variety of configurations; ranging from a low level load cell suitable for small cables to a non-contact strain and torque system. Both a low-level load cell and a high-level load cells were fabricated and measured, including devices using inductive (non-contact) coupling. This Phase II program will produce such cable load cells in a variety of configurations suitable for robotics applications. The sensors developed will include an ultra-compact load cell suitable for use on robotic cables, including very thin cables/cordage such as used for finger/tendon motion. In addition, an ultra-compact wireless torque sensor suitable for plastic shafts and low torque levels will be fabricated. At the completion of the Phase II, both the sensors and signal processing electronics will be developed to a level that will permit application to NASA programs