Design and Hysteresis Modeling of a Miniaturized Elastomer-Based Clutched Torque Sensor
文献类型：期刊论文
| 作者 | Sun, Ning1,2 ; Cheng, Long1,2; Xia, Xiuze1,2
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| 刊名 | IEEE TRANSACTIONS ON INSTRUMENTATION AND MEASUREMENT
 |
| 出版日期 | 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. |
| WOS关键词 | SERIES ELASTIC ACTUATION ; HAND EXOSKELETON ; JOINT ; COMPENSATION ; TRANSMISSION ; SEA |
| 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研究方向 | Engineering ; Instruments & Instrumentation |
| 语种 | 英语 |
| WOS记录号 | WOS:000766618900008 |
| 出版者 | IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC |
| 资助机构 | Beijing Municipal Natural Science Foundation ; National Natural Science Foundation of China |
| 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.Univ Chinese Acad Sci, Sch Artificial Intelligence, Beijing 100049, Peoples R China 2.Chinese Acad Sci, State Key Lab Management & Control Complex Syst, Inst Automat, Beijing 100190, 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. |
入库方式： OAI收割
来源：自动化研究所
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