A 3D-printed low-cost 6-DOF human interaction force sensor for a haptic interface

Alan Wang, Perry Y. Li

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

A haptic interface typically only senses the motion of the interface and provides a force for haptic feedback. It does not sense the force/torque applied by the human operator on the interface. The applied human force can be useful for controlling the haptic interface as a manipulator (as in bilateral teleoperation) and for interpreting operator intent. This paper describes a custom 3D-printed 6-DOF human interaction force sensor designed for the Novint Falcon haptic interface which costs two orders magnitude less than commercial 6-DOF force sensors. The sensor design uses a Maltese cross configuration with integrated electronics and features for attachment to the Falcon. Finite element analysis of the 6-DOF sensor was used to optimize strain gauge placements and for evaluating design changes. The sensor was 3D printed in PLA using a low-cost hobbyist printer. Calibration and testing results of the sensor prototype indicate that the sensor has good linearity and sensitivity, minimal cross-coupling between axes and a force range and responsiveness that are suited for the haptic interface application.

Original languageEnglish (US)
Title of host publication2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages936-941
Number of pages6
ISBN (Electronic)9781665441391
DOIs
StatePublished - Jul 12 2021
Event2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands
Duration: Jul 12 2021Jul 16 2021

Publication series

NameIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Volume2021-July

Conference

Conference2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
Country/TerritoryNetherlands
CityDelft
Period7/12/217/16/21

Bibliographical note

Publisher Copyright:
© 2021 IEEE.

Keywords

  • 3D Printing
  • Force Sensing
  • Haptic interface
  • Teleoperation

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