University of Twente Student Theses
Interaction control with a 3D printed torque sensor in an impedance control framework
Ottachchige, P.P. (2024) Interaction control with a 3D printed torque sensor in an impedance control framework.
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| Full Text Status: | Access to this publication is restricted |
| Embargo date: | 30 January 2025 |
| Abstract: | In recent years, there has been a notable growth in the utilisation of Additive Manufacturing (AM), commonly referred to as 3D printing, as a means to produce a diverse range of sensors. This technological advancement has paved the way for the complete fabrication of sensors through the pure use of AM processes or the integration of sensors within printed structures. As a consequence of these innovations, a great number of applications have begun to materialise, primarily within the realms of soft robotics and biomedical engineering. However, despite the promising prospects associated with embedded 3D printed sensing, a critical challenge that remains relatively unaddressed is the precise integration of these sensors in applications primarily focused on control. To explore the application of 3D printed torque sensors in real-world interaction control scenarios, a challenge, that addressed in this research is the impact of nonlinearities observed in the sensor response on control. These nonlinearities pose obstacles to achieving precise and reliable torque measurements, crucial for effective interaction control. Therefore, this research explores a potential interaction control strategy for achieving stable, safe operation with a 3D printed torque sensor, while simultaneously addressing the challenge of its inherent nonlinear behaviour in achieving reliable and precise torque measurements for successful integration into real-world systems. By exploring the possibilities of using 3D printed torque sensors in real-world interaction control scenarios, this research seeks to contribute to the advancement of 3D printed sensor technology. |
| Item Type: | Essay (Master) |
| Faculty: | EEMCS: Electrical Engineering, Mathematics and Computer Science |
| Subject: | 50 technical science in general, 51 materials science |
| Programme: | Systems and Control MSc (60359) |
| Link to this item: | https://purl.utwente.nl/essays/98084 |
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