On a design of a torque sensor for the iCub humanoid robot

The paper presents the evaluation process of a first version of the one axis torque sensor designed for the iCub humanoid robot. Newly designed strain gauges equipped sensor was found to show a significant readouts hysteresis, therefore several tests were run to define the reason of the hysteresis. Some of the design issues met while testing the new sensor are discussed including the screws connection and relative rigidity of the sensor's elements analyses. Verification of the assembly procedure is also included. Tests revealed several problems on both design stage and exploitation of the sensor. Possible solutions to the encountered problems are further proposed

On a design of a torque sensor for the iCub humanoid robot

The paper presents the evaluation process of a first version of the one axis torque sensor designed for the iCub humanoid robot. Newly designed strain gauges equipped sensor was found to show a significant readouts hysteresis, therefore several tests were run to define the reason of the hysteresis. Some of the design issues met while testing the new sensor are discussed including the screws connection and relative rigidity of the sensor's elements analyses. Verification of the assembly procedure is also included. Tests revealed several problems on both design stage and exploitation of the sensor. Possible solutions to the encountered problems are further proposed

Superelastic compliant mechanisms for needlescopic surgical wrists

The paper discusses the design process of a micro robotic wrist with two rotational and one translational degrees of freedom for needle laparoscopic surgery with 2.5 mm instrument diameter. At such size a few systems have been proposed with small workspace and limited degree of freedom. These functional limitations can be overcome by introducing parallel compliant mechanisms designed for fabrication with MEMS techniques. Use of micro electro discharge machining (\u3bc-EDM) and superelastic alloy can further improve the functional figures. The paper addresses the case of wrist developed for LIGA fabrication with Ni and introduces the case of fabrication with \u3bc-EDM using superelastic NiTi alloy. The wrist is a part of a modular needle laparoscopic instrument comprising a needle tube with actuation wires and rods inside, an end-effector platform to which the surgery tool is connected and a separate actuation unit