Title
Force Sensors for Human/Robot Interaction

Abstract
Conventional force sensors are overdesigned foruse in measuring human force inputs, such as is needed in research and application of human/robotinteraction. A new class of force sensors is introduced that is suited to human-robot interaction. The sensor allows larger displacements in response to forces than present commercial sensors, and orthogonalizes the axes to be measured by a combination of the properties of the flexure and the displacement sensing mechanism. Two methods of measuring the displacement, optoelectronic and electromagnetic,are discussed. Criteria for material selection and dimensioning are given, and experimental results are reported.

Source: Masters Thesis, Northwestern University, 1999