title: Note: A compact three-axis optical force/torque sensor using photo-interrupters.
abstract: By integrating four photo-interrupters in a cross-shaped structure, we developed a compact three-axis optical force/torque (F/T) sensor. The developed sensor has a diameter of 28 mm and a thickness of 7 mm. Despite simplicity and compactness, the experiments with a prototype of the proposed sensor demonstrate notably high accuracy. The RMS errors are 0.5% ± 0.1% of the maximum vertical force in z-axis, 1.9% ± 0.2% of the maximum torque in x-axis, and 2.0% ± 0.3% of the maximum torque in y-axis. It is expected that the proposed sensor allows cost-effective integration of robot systems requiring compact and multi-axis F/T sensors such as a walking assist robot.
authors.affiliation: Department of Mechanical Engineering, KAIST, Daejeon 305-701, South Korea.
authors.forename: Ji-Chul
authors.initials: JC
authors.lastname: Kim
authors.affiliation: Department of Mechanical Engineering, KAIST, Daejeon 305-701, South Korea.
authors.forename: Kyung-Soo
authors.initials: KS
authors.lastname: Kim
authors.affiliation: Department of Mechanical Engineering, KAIST, Daejeon 305-701, South Korea.
authors.forename: Soohyun
authors.initials: S
authors.lastname: Kim