Design of a Testbed for Haptic Sensor Calibration and Characterization
Name
lee-cindylee-sb-meche-2024-thesis.pdf
Description
Thesis PDF
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6.81 MB
Format
Adobe PDF
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674442f425388918b7faaee7d52d790b
Author(s)
Lee, Man Ching Cindy
Advisor(s)
Youcef-Toumi, Kamal
Date Issued
May 2024
Publisher
Massachusetts Institute of Technology
Abstract
We present the design, fabrication, and application of a 6-axis test bed for the characterization and calibration of haptic force sensors. This test bed can apply and measure contact forces up to 10N anywhere within a 60x60x60mm volume, at angles up to ±10 degrees from the
normal. A procedure for haptic sensor calibration and characterization was developed for this test bed. A visuotactile sensor designed by the Toyota Research Institute was used to demonstrate the application of the test bed, resulting in calibration curves for force measurements
in all axes as well as the location of force in x and y. The test procedures also showed the presence of hysteresis in the haptic sensor’s normal force measurement, and a lack of hysteresis in the sensor’s shear force measurement.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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