An investigation of the use of linear polarizers to measure force and torque in optical 6-DOF force/torque sensors for dexterous manipulators

R. Sargeant, L. D. Seneviratne, K. Althoefer

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

This paper presents a prototype of a force/torque sensor that uses fiber optic guided light and linear polarizer materials to obtain intensity modulated light to detect applied force and torque to the sensing structure. The sensor is also capable of measuring the contact direction between the sensor and the object. The sensor's design and operating principles are explained and experimental data is given to verify the proposed operating principle. The experimental data shows that linear polarizers can be used to measure the torque applied to a force/torque sensor.

Original languageBritish English
Title of host publication2012 IEEE International Conference on Robotics and Automation, ICRA 2012
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1422-1427
Number of pages6
ISBN (Print)9781467314039
DOIs
StatePublished - 2012
Event 2012 IEEE International Conference on Robotics and Automation, ICRA 2012 - Saint Paul, MN, United States
Duration: 14 May 201218 May 2012

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Conference

Conference 2012 IEEE International Conference on Robotics and Automation, ICRA 2012
Country/TerritoryUnited States
CitySaint Paul, MN
Period14/05/1218/05/12

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