Journal of Electronic Measurement and Instrument (电子测量与仪器学报) 2013/27:9 PP.867-873
In order to meet the requirements of dynamic performance and environmental adaptability of robot,combining with force element and elastic element,a flexible sensing device which can be used for robot foot is proposed. Though analyzing the mechanics model,the three-dimensional force/torque calculation and bottom angle estimating method are given. According to the requirement of the equipment,the hardware-software design and implementation scheme are completed for the detection system based on ARM,and the key parameters are calibrated either. The sensor experiment shows that the comprehensive error of the device can be less than 3%,when X/Y angle is less than 20°,which can meet the requirement of foot measuring. The device has the advantages of small size,high precision,informative feedback,and can provide important data to legged robots for gait optimization.