부산대학교 도서관

This work presents a force sensing system design based on strain gauges to measure interacting forces between this system and the body of a humanoid robot, developed in the Autonomous Robots and Cognitive Systems Laboratory (ARCOSLab) as well as between this system and large and heavy objects that are hardly manipulated in general by the hands of any humanoid robot. The experimental results proved the effectiveness of the force sensing system to measure contact forces in z, y and x axes with low cross-talk in certain ranges, and this allows to have suitable force reference values to validate a further system that will be integrated in the humanoid robot to estimate external contact forces.