{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,5]],"date-time":"2026-02-05T21:06:27Z","timestamp":1770325587946,"version":"3.49.0"},"reference-count":33,"publisher":"MDPI AG","issue":"21","license":[{"start":{"date-parts":[[2020,10,23]],"date-time":"2020-10-23T00:00:00Z","timestamp":1603411200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"The Science and Technology Support Project of the National Science Foundation of China","award":["51775215"],"award-info":[{"award-number":["51775215"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>In robot teaching for contact tasks, it is necessary to not only accurately perceive the traction force exerted by hands, but also to perceive the contact force at the robot end. This paper develops a tandem force sensor to detect traction and contact forces. As a component of the tandem force sensor, a cylindrical traction force sensor is developed to detect the traction force applied by hands. Its structure is designed to be suitable for humans to operate, and the mechanical model of its cylinder-shaped elastic structural body has been analyzed. After calibration, the cylindrical traction force sensor is proven to be able to detect forces\/moments with small errors. Then, a tandem force sensor is developed based on the developed cylindrical traction force sensor and a wrist force sensor. The robot teaching experiment of drawer switches were made and the results confirm that the developed traction force sensor is simple to operate and the tandem force sensor can achieve the perception of the traction and contact forces.<\/jats:p>","DOI":"10.3390\/s20216042","type":"journal-article","created":{"date-parts":[[2020,10,26]],"date-time":"2020-10-26T03:51:47Z","timestamp":1603684307000},"page":"6042","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Development and Application of a Tandem Force Sensor"],"prefix":"10.3390","volume":"20","author":[{"given":"Zhijian","family":"Zhang","sequence":"first","affiliation":[{"name":"State Key Laboratory of Digital Manufacturing Equipment &amp; Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Youping","family":"Chen","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Digital Manufacturing Equipment &amp; Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dailin","family":"Zhang","sequence":"additional","affiliation":[{"name":"State Key Laboratory of Digital Manufacturing Equipment &amp; Technology, School of Mechanical Science and Engineering, Huazhong University of Science and Technology, Wuhan 430074, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,10,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"469","DOI":"10.1016\/j.robot.2008.10.024","article-title":"A Survey of Robot Learning from Demonstration","volume":"57","author":"Argall","year":"2009","journal-title":"Robot. 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