Design and Hysteresis Modeling of a Miniaturized Elastomer-Based Clutched Torque Sensor

doi:10.1109/TIM.2022.3152307

CORC > 自动化研究所 > 中国科学院自动化研究所 > 复杂系统管理与控制国家重点实验室 > 先进机器人控制团队

	Design and Hysteresis Modeling of a Miniaturized Elastomer-Based Clutched Torque Sensor
	Sun, Ning 1,2; Cheng, Long 1,2; Xia, Xiuze 1,2
刊名	IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
	2022
卷号	71 页码:9
关键词	Clutch elastic torque sensor hysteresis modeling mechanical design rubber spring
ISSN号	0018-9456
DOI	10.1109/TIM.2022.3152307
通讯作者	Cheng, Long(long.cheng@ia.ac.cn)
英文摘要	Elastic torque sensors have been widely used for small-scale robots such as hand exoskeletons to achieve torque control. However, designing a miniaturized and lightweight elastic torque sensor with human-machine interaction safety is still a challenge. In this article, a novel miniaturized and lightweight elastomer-based clutched torque sensor is presented. A rubber spring is designed and used to reduce its volume and weight. A wafer disk clutch is devised to improve mechanical safety. The torque sensor is 29.5 mm x 18 mm x 24 mm in dimension and weighs 23 g. Compared with the state-of-the-art elastic torque sensors for hand exoskeletons, the volume-to-torque ratio is reduced by 15.48%, and its weight is reduced by 23.33%. Since the hysteresis characteristics of the rubber spring leads to a nonlinear deformation-torque relationship, an improved parametric Gaussian process regression (PGPR) method based on the nonlinear autoregressive moving average structure with exogenous inputs (NARMAX) is proposed. A combined kernel function for the improved PGPR is designed to improve the fitting performance. Finally, experiments have been conducted to verify the mechanical safety and torque sensing performance. The force caused by collision on the proposed torque sensor is less than that on the torque sensor without the clutch (reduced by 51.78%). The proposed hysteresis model can reduce the maximum absolute modeling error to 7% compared with those of other intelligent hysteresis models (the modeling error is 12.32%). Therefore, the experimental results indicate that the proposed torque sensor can improve the mechanical safety and achieve accurate torque sensing.
资助项目	Beijing Municipal Natural Science Foundation[JQ19020] ; National Natural Science Foundation of China[62025307] ; National Natural Science Foundation of China[U1913209]
WOS关键词	SERIES ELASTIC ACTUATION ; HAND EXOSKELETON ; JOINT ; COMPENSATION ; TRANSMISSION ; SEA
WOS研究方向	Engineering ; Instruments & Instrumentation
语种	英语
出版者	IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
WOS记录号	WOS:000766618900008
资助机构	Beijing Municipal Natural Science Foundation ; National Natural Science Foundation of China
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/48102]
专题	自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队
通讯作者	Cheng, Long
作者单位	1.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, Peoples R China 2.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China
推荐引用方式 GB/T 7714	Sun, Ning,Cheng, Long,Xia, Xiuze. Design and Hysteresis Modeling of a Miniaturized Elastomer-Based Clutched Torque Sensor[J]. IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,2022,71:9.
APA	Sun, Ning,Cheng, Long,&Xia, Xiuze.(2022).Design and Hysteresis Modeling of a Miniaturized Elastomer-Based Clutched Torque Sensor.IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT,71,9.
MLA	Sun, Ning,et al."Design and Hysteresis Modeling of a Miniaturized Elastomer-Based Clutched Torque Sensor".IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT 71(2022):9.