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  • The Force

  • This is how I believe the force are distributed in the new design. I have no idea of how to compute this but I assume it work because MEMS electro actuator are following that design. I'll be glad if someone know how to do math for this.
  • Force Sensing

  • After showing the robots at PyCon.us, I had some great conversations about all the possible ways I could improve them. One particularly nice idea is to connect some extra wires to the servo pots, and by measuring the voltage on them get some idea about...
  • Force Gauge

  • The centerpiece of this project and the component that took the most time to develop is the force gauge. The basic idea of most force measurement is knowing the relationship between the displacement of an object to the force that caused that displacement...
  • Force Ten

  • Look in — To the eye of the storm Look out — For the force without form Look around — At the sight and the sound Look in look out look around —   I've been building various sensor platforms for awhile with individual components, usually on...
  • Bite force sensor

  • I added a conductive rubber pressure sensor to measure bite force.This allows tracking to be enabled with light bite force, and registers clicks with a stronger bite. The force sensor is connected to the 10K potentiometer to create an adjustable...
  • Direct Force Sensing

  • Here is the system design diagram for the current Airtripper Extruder Filament Force Sensor set-up. The diagram shows direct force sensing where all the forces generated by the stepper motor is transferred to the load cell.An amended system design diagram...
  • Upgrades - Force Triangulation

  • Some applications may benefit from joystick-like control. This can be accomplished with three force sensors arranged in a triangle - here is a mockup on the left:
  • Adjustable bite force threshold

  • A single turn 10K potentiometer is used in combination with the bite force sensor to create an adjustable voltage divider. This will probably be replaced with a fixed value resistor eventually, but it was helpful to have an adjustable value during testing....
  • Peak force test

  • I was curious to know the max force my cnc could produce so I came up with this test rig. Using the DRV8825 driver at 2 amps (vref 1v, 0.31Nm measured torque) and a 8mm pitch lead screw, I’m measuring a peak force of 12kg. My stepped motor claims a 0.59Nm...
  • Sensing the Servo Force

  • So, a little bit of rethinking what I actually need, and the solution became obvious. I don't want to know the position of the servo, I want to know the force that is affecting it (and, at the same time, the force that the servo is using to counter that)....
  • Portable Clamping Force Meter

  • A few weeks ago we were the measuring the clamp force of our vise collection from a load cell, through a data acquisition device.. and into our computer. I'm sure everyone was very impressed.Today, we took the next logical leap and connected a portable...
  • Advantages of Force Control

  • Instead of responding to tongue position, the BYTE is force controlled. This is an important distinction as some people with cerebral palsy find it challenging to perform fine and precise articulation of their tongues.  With the BYTE, the whole...
  • First force control tests

  • As I said in the project details, I think a position controller alone is not enough to have a fully functional robotic hand. With only a position controller, to grasp any object without breaking it (or without risking damaging the hand), the approximate...