2. Robot-effort interaction

2.1 Motivations

The effort sensor is also an "exteroceptive" sensor. It is capable of perceiving interactions between the robot and its environment.

Information from the force sensor can enable the robot to compensate for inaccuracies in tool or part positioning, to work on moving parts, or to protect a tool, a part or the robot itself from overloads.

The fields of application are extremely rich and varied, ranging from the assembly of parts in industrial robotics to medical robotics, functional re-education, neurology and human motor control, not forgetting measurement for the restitution of touch.

In the industrial sector, force sensors and force control are used for the assembly and insertion of parts to precise...