S. Pandian, T. Okuda, Y. Mitani, K. Kurahashi, S. Kawamura
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A piezoelectric force/force-derivative sensor for robotic applications
A shear-type piezoelectric sensor is used for sensing both force and force derivative signals. Compared to a conventional multilayer-type piezoelectric cell, it has advantages of simple structure, low drive voltage and light weight. The proposed sensor is used for contact force control of an one-degree of freedom robot manipulator, and the effectiveness of force derivative feedback control is demonstrated through experimental results. A comparison is made with results obtained using strain gauge force sensor.
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