{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,2]],"date-time":"2026-05-02T09:50:35Z","timestamp":1777715435449,"version":"3.51.4"},"reference-count":27,"publisher":"SAGE Publications","issue":"6","license":[{"start":{"date-parts":[[1995,12,1]],"date-time":"1995-12-01T00:00:00Z","timestamp":817776000000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[1995,12]]},"abstract":"<jats:p>In controlling manipulators interacting with the external en vironment, an important role is played by the force\/torque sensors. In recent years, a number of constructs for such sen sors have been proposed, and some criteria for their evaluation have been introduced. This article presents a systematic analy sis of force sensors at the design stage, which has not been undertaken in the literature. A generalized model of the sensors is developed on the basis of static and kinematic equations, and a block form of the resulting strain compliance matrix of the sensor is obtained. The model developed is then applied to the analysis of two- and three-dimensional sensor schemes cor responding to regular polygons and polyhedrons, respectively. The condition number of the normalized strain compliance matrix of the sensor is used as a performance index. The im possibility of reaching the optimal values of this criterion is stated for the regular polygon form-based sensors. Partial solutions of the optimization problem are found out for the reg ular polyhedron form\u2014based sensors. The presentation of the material is illustrated by analytical examples.<\/jats:p>","DOI":"10.1177\/027836499501400603","type":"journal-article","created":{"date-parts":[[2007,3,17]],"date-time":"2007-03-17T21:44:02Z","timestamp":1174167842000},"page":"560-573","source":"Crossref","is-referenced-by-count":41,"title":["Optimal Geometric Structures of Force\/Torque Sensors"],"prefix":"10.1177","volume":"14","author":[{"given":"M.M.","family":"Svinin","sequence":"first","affiliation":[{"name":"Aeronautics and Space Engineering Department Tohoku University Aramaki-aza-Aoba, Aoba-ku, Sendai 980-77, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"M.","family":"Uchiyama","sequence":"additional","affiliation":[{"name":"Aeronautics and Space Engineering Department Tohoku University Aramaki-aza-Aoba, Aoba-ku, Sendai 980-77, Japan"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1995,12,1]]},"reference":[{"key":"atypb1","doi-asserted-by":"publisher","DOI":"10.1002\/rob.4620060206"},{"key":"atypb2","volume-title":"Generalized Inverses: Theory and Application","author":"Ben-Israel, A.","year":"1974"},{"key":"atypb3","unstructured":"Bicchi, A., and Dario, P. 1988. 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