LAUSR

As an important component of force feedback devices, the multi-dimensional force sensor (MDFS) has been widely used in haptic devices, prosthetic hands, and other devices. The structural distribution of the stiffness and mass of an MDFS is key to deeply understand its dynamic performance. To obtain this information, a model-based method for load characteristics analysis of the MDFS is proposed in this paper. The dynamic behavior of the force sensor for a given load is described by a lumped mass model consisting of spring-mass-damper elements and characterized by the model parameters that describe the dynamic correlation distribution of mass, stiffness, and damping. Compared with the results of finite element analysis (FEA) and the spectrum analysis of the step response, the natural frequencies with different load masses are in accordance with the model based on the proposed method. The main purpose of the proposed method is the description of the load characteristics of the MDFS, independent of the given mechanical environment, which provides a certain theoretical reference for the calculation of the load capacity of the force sensor. Meanwhile, in order to improve the dynamic performance, a dynamic compensated filter is added to the force sensor coupling system, thereby broadening the operation frequency and greatly reducing the response time.