Force Localized Interaction Sensing System for HYDROïD Humanoid Robot

In this paper, we present a new type of low cost force localized interaction sensor dedicated to robot interactive sensing system. The design of the sensor is based on mechanical deformation and mathematical models. It includes the capability to be integrated easily in robotic limbs. This sensing system is based on the coupled results obtained from six well-located force sensors in order to measure the magnitude, position and orientation of the interacting force. The mathematical model to calculate the force from the measurements is fully detailed. A prototype in the 2-Dimensional plan is built. An experimental proof of concept setup is illustrated and sets of measurements illustrate force sensing results. A commercial sensor based on another technology is used for reference. The comparison with the reference shows very close results on a tested range up to 50 N. The standard deviation of the difference between both sensors is lower than 1 N on a tested range of 50 N and for several angles of the applied force, demonstrating the relevance of the new sensor.