Robotics and Autonomous Systems vol:2 issue:2 pages:139-148
Although several force sensing devices have been developed recently, industrial applications of these devices are rarely found. This is in severe contradiction to the growing success of vision systems. In many application domains however, tactile perception may be as important as vision. This paper discusses the design aspects of multi-degree of freedom force sensors. Some well-proven mechanical concepts developed at K.U. Leuven are presented. Further, the consequences of using force feedback upon the robot control structure will be discussed.