Mechanical Metrology Center

Daejoen, South Korea

Mechanical Metrology Center

Daejoen, South Korea
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Kim D.-K.,Mechanical Metrology Center | Kim J.-H.,Mechanical Metrology Center | Kwon H.-J.,Mechanical Metrology Center | Kwon Y.-H.,Kyung Hee University
ETRI Journal | Year: 2010

This paper presents the design and fabrication model of a touchpad based on a contact-resistance-type force sensor. The touchpad works as a touch input device, which can sense contact location and contact force simultaneously. The touchpad is 40 mm wide and 40 mm long. The touchpad is fabricated by using a simple screen printing technique. The contact location is evaluated by the calibration setup, which has a load cell and three-axis stages. The location error is approximately 4 mm with respect to x-axis and y-axis directions. The force response of the fabricated touchpad is obtained at three points by loading and unloading of the probe. The touchpad can detect loads from 0 N to 2 N. The touchpad shows a hysteresis error rate of about 11% and uniformity error rate of about 3%. © 2010 ETRI.


Kwon H.-J.,Mechanical Metrology Center | Kim J.-H.,Mechanical Metrology Center | Kim D.-K.,Mechanical Metrology Center | Kwon Y.-H.,Kyung Hee University
Journal of Mechanical Science and Technology | Year: 2011

This paper presents the design of robot foot module of four-point biped walking robot and its fabrication. The foot module has four sensor units based on contact-resistance force sensor. The thin-film-type force sensor is fabricated by coating resistive ink on thin polyimide film using silk screening technique. The simple structure is devised and fabricated to assemble the thin force sensor rigidly. The unit force sensor module is evaluated by the calibration setup to obtain the characteristics of repeatability and hysteresis. The sensor module presents hysteresis error of about 5% and repeatability error of about 0. 37%. The calculated zero moment point (ZMP) of the foot module is also compared with the measured position using static load of 50 N. The maximum location error of ZMP is less than 10%. The robot foot module shows the possibility of applying it to humanoid walking. © 2011 The Korean Society of Mechanical Engineers and Springer-Verlag Berlin Heidelberg.

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