A multi-axis force sensor measures forces and moments occurring in more than one spatial direction. In this way, a single multi-axis sensor can perform what is essentially a three-dimensional measurement of physical quantities. This feature makes multi-axis sensors popular in a wide range of engineering research including automation, machining processes, aerospace, medical applications and civil engineering. Measurement of multi-directional forces and moments is typically achieved using multiple strain-sensitive elements mounted on an elastic structure. Both the sensitive elements and the elastic structure require careful consideration to design a force sensor for accuracy, reliability and robustness. While the development of multi-axis sensors has been considered extensively in the literature over the past seven decades, a collective resource which collates and examines this information does not exist. This review explores multi-axis force sensor developments across a broad range of disciplines. The salient fundamental sensing techniques adopted for the strain-sensitive elements reported in the literature are discussed and a critical review of elastic structure designs that have featured in the literature is also presented.

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Multi-axis force sensors: A state-of-the-art review

This paper presents a novel method for a visual-haptic aid teleoperation system (VHATS). The human operator sends commands to the remote manipulator using a haptic device while observing the virtual environment at the local site. The virtual environment also generates aiding force, which helps the human operator feeling the real touching force and drive the remote manipulator to avoid obstacles. In our system, high-resolution point cloud data of the remote environment are collected by a Kinect sensor. Then three-dimensional (3-D) graphic models are reconstructed at the master site. The environment information is transmitted to the local site to create and update the virtual models after the time delay. The feedback force is divided into two parts, guiding force and virtual contact force. The guiding force is derived from the Artificial Potential Field Method (APFM) for obstacles avoiding. The virtual contact force is based on the parameters of geometric and dynamic models. An adaptive Window-based Sliding Least-Squares Method (AW-SLSM) is adopted to update the parameters of the dynamic models on-line. At last, the experimental platform is established, while a moving, obstacle avoiding, target picking task is carried out and verified in the presence of a round-trip communication delay of 2 s.

Visual-Haptic Aid Teleoperation Based on 3-D Environment Modeling and Updating

A novel elastic body design idea of six-axis wrist force sensor with a floating beam was raised based on the analysis of the robot six-axis wrist force sensor with a floating beam. The design ideas improve the sensor’s dynamic performance significantly, while not reducing its sensitivity. First, the design ideas were described in detail, which were analyzed by mechanical modeling and were verified by finite element analysis. Second, the static simulation analysis of the novel elastomer of sensor was carried out. According to the strain distribution performance, the position of the strain gauges pasted and the connection mode of the full-bridge circuits were decided, which can achieve theoretical decoupling. Finally, the comparison between the static and dynamic performance of the novel sensor and the original sensor with floating beams was done. The results show that the static and dynamic performance of the novel six-axis wrist sensor are all better than the original sensor.

Design of a Novel Six-Axis Wrist Force Sensor.

Virtual Reality (VR) and Augmented Reality (AR) have revolutionized technology and taken the world by storm. They established the foundation for numerous future innovations. Virtual and augmented reality are now widely employed to improve user experiences in various areas. Over time, more and more companies and businesses have begun to use this cutting-edge technology to improve their products and services. Recently, the attention to VR and AR has exploded with the concept “Metaverse” surfacing in mainstream media. Many major companies have already set their goals in motion and are working on building the core of their metaverses. This review paper focuses on explaining the concept of the metaverse, its history, and its associated benefits. Through a survey, it helps understand people’s concerns with the metaverse and how it can impact and affect humans mentally, physically, and psychologically. The analysis of this paper can help humans prepare themselves for what the new technologies have to offer, in addition to assisting companies in building a flawless metaverse.

https://downloads.hindawi.com/journals/ahci/2022/3247060.pdf

Aiguo Song

Papers

Design and Calibration of a Six-axis Force/torque Sensor with Large Measurement Range Used for the Space Manipulator

Research on 3D Virtual Environment Modeling Technology for Space Tele-robot☆