In this paper, we present a new type of low cost force localized interaction sensor dedicated to robot interactive sensing system. The design of the sensor is based on mechanical deformation and mathematical models. It includes the capability to be integrated easily in robotic limbs. This sensing system is based on the coupled results obtained from six well-located force sensors in order to measure the magnitude, position and orientation of the interacting force. The mathematical model to calculate the force from the measurements is fully detailed. A prototype in the 2-Dimensional plan is built. An experimental proof of concept setup is illustrated and sets of measurements illustrate force sensing results. A commercial sensor based on another technology is used for reference. The comparison with the reference shows very close results on a tested range up to 50 N. The standard deviation of the difference between both sensors is lower than 1 N on a tested range of 50 N and for several angles of the applied force, demonstrating the relevance of the new sensor.

中文翻译：

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HYDROïD仿人机器人力局部交互传感系统

在本文中，我们提出了一种专用于机器人交互传感系统的新型低成本力本地化交互传感器。传感器的设计基于机械变形和数学模型。它包括可以轻松集成到机器人肢体中的能力。该传感系统基于从六个位置良好的力传感器获得的耦合结果，以测量相互作用力的大小、位置和方向。根据测量计算力的数学模型非常详细。构建了二维计划中的原型。说明了概念设置的实验证明，并且一组测量说明了力感测结果。基于另一种技术的商用传感器被用作参考。