TitleDynamic force/torque sensors: theory and experiments
Publication TypeConference Paper
Year of Publication1997
Conference NameProc. Int. Conference on Advanced Robotics
Publication Languageeng
AuthorsBicchi, A, Caiti, A, Prattichizzo, D
Conference LocationMonterey, CA, USA

Although present-day force/torque (F/T) sensors are mostly designed and used as if they were quasi-static devices, if significant compliance and/or stringent requirements on measurements bandwidth are in order, a dynamic analysis of such sensors is necessary. In this paper we consider the optimal (in a worst-case sense) design of F/T sensors, based on distributed-parameter models of its compliance, and algorithms that can be used to obtain F/T measurements in real time with high bandwidth. Theoretical expectations are confirmed by experimental results

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