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dc.contributor.advisor 오세훈 - Hyunbin Na - 2022-08-17T16:00:15Z - 2022-08-17T16:00:15Z - 2022 -
dc.identifier.uri en_US
dc.identifier.uri -
dc.description Force observer, Series Elastic Actuator, Tactile Sensor, Fiber Bragg Grating, Sensor fusion -
dc.description.abstract -
dc.description.statementofresponsibility N -
dc.description.tableofcontents I.Introduction 1
II.Integration of FBG-based Tactile Sensor and SEA-driven Robot Link 5
2.1 Force Measurement using FBG-based Tactile Sensor 5
2.2 Neural Network Learning using FBG Measurement Data to Estimate Contact Location and Force 8
2.3 Analysis of Dynamics on the Integrated Robot Link 11
III.Design of the Force Observer To Integrate Measurements of the FBG sensor and SEA 13
IV.Experimental Verification of the Proposed Integrated Force Sensing Algorithm 16
4.1 Estimation of the contact force and location by the FBG Sensor 17
4.2 Force Observation under Static Conditions 19
4.3 Force Observation under Dynamic Conditions 23
4.4 Force observation with various frequency 24
V.Conclusion 26
References 27
dc.format.extent 30 -
dc.language eng -
dc.publisher DGIST -
dc.subject Force observer, Series Elastic Actuator, Tactile Sensor, Fiber Bragg Grating, Sensor fusion -
dc.title Dynamic Contact Force Estimation and Control Integrating Tactile Sensor Based on Fiber Bragg Grating and Series Elastic Actuator -
dc.type Thesis -
dc.identifier.doi 10.22677/thesis.200000631284 - Master -
dc.contributor.department Department of Robotics and Mechatronics Engineering -
dc.contributor.coadvisor Jaehueng Park - 2022/08 -
dc.publisher.location Daegu -
dc.description.database dCollection -
dc.citation XT.RM 나94 202208 - 8/11/22 -
dc.contributor.alternativeDepartment 로봇및기계전자공학과 -
dc.embargo.liftdate 2025-02-28 -
dc.contributor.affiliatedAuthor Hyunbin Na -
dc.contributor.affiliatedAuthor Sehoon Oh -
dc.contributor.affiliatedAuthor Jaehueng Park -
dc.contributor.alternativeName 나현빈 -
dc.contributor.alternativeName Sehoon Oh -
dc.contributor.alternativeName 박재흥 -
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Department of Robotics and Mechatronics Engineering Theses Master


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