Intelligent triaxial forces sensor used for the feet of robot

A BSTR ACTThis paper Prese1ts a new kind of triaxial forces sensor. It uses five linear I-loll cells as the sensing parts in the sen-sor. An elastic part designed can ingeniously transform a space force into some displacements. When a space force actson the sensor the hfoll cells will produce relevant displacements between each pair of magnetic poles. Then the ampli-fiers calculate the hloll potential (lifferences and output three voltages about triaxial forces. these voltages will be sent toa computer to do linearizing calculation and dynamic compensation. Thus, the interferences among 3—1) forces will bereduced and the sensor' s measuring characteristic will greatly rise.