# The Development of a Thin-Type Tri-Axial Force Sensor

Keyword: The Matching of Basic Research and Industrial Technology, Effective Acquisition of Grant-in-Aid, Creation of Market Needs by Effective Promotion

Nobutaka Tsujiuchi, Professor, Faculty of Engineering, Dept. of Mechanical and Systems Engineering, Doshisha University

Organizations Involved

☐ Kazumi Koketsu, President, Tec Gihan Co., LTD.

☐ Yotaro Tsuchiya, Chief, Dept. of Engineering, Tec Gihan Co., LTD.

O Kouzo Shiojima, President, K-tec System co., LTD.

## 【Abstract】

The Motion and Vibration Control Laboratory in Doshisha University, Tec Gihan co., LTD. and K-tec System co., LTD. have jointly developed a nonconventional thin-type tri-axial force sensor. This sensor can measure physical values such as frictional forces etc., thus, we have distributed this sensor to manufacturing industries of sporting and medical goods welfare apparatus and automobiles etc.. Furthermore, the order increases in sports- and medical-related fields, since the sensor's outputs became measurable wirelessly by commercializing multi-data loggers and signal conditioners for this sensor.

## [Summary of the technology transfer]

Technological Impact

• Development of standing position measuring system and its signal processing software.

• Development of a measuring system for the tire tread force using tri-axial force sensors and transportable data logger.

• Development of a low-cost transportable force plate.

## Market Impact

• The sale of these products has started from fiscal 2004, and the total sales amount by the end of fiscal year 2006 amount to approximately ¥ 16,000,000.

• There are balancing orders, and the sales prediction in fiscal 2007 is ¥ 30,000,000.

## ● Social Impact

We can contribute to the improvement of the quality of life for the aging society by the introduction of this sensor. And, it is possible that performance such as myoelectric prosthesis, gripper for the material handling and haptic interface is remarkably improved by installing the small tri-axial force sensor at the fingertip,

## ●Special Features of the Collaboration

Nobutaka Tsujiuchi a professor at Doshisha University, and Tec Gihan co., LTD. devised the original structure (Publication number of patent:2006-349461) as a base for the tri-axial force sensor in fiscal 2003. Then, K-tec System co., LTD. was founded. At present, we intend to expand this tri-axial force sensor to the industrial sensor business.

Furthermore, we are developing small force/torque sensors and its measurement system which applied the structure and the manufacturing technology of this tri-axial force sensor.

## Project Background

Nobutaka Tsujiuchi in the Dept. of Mechanical and Systems Engineering, Faculty of Engineering, Doshisha University, and Tec Gihan co., LTD. started to conduct cooperative research on the development of the small tri-axial force sensor for the fingertip of the robot hand, as part of the Innovative Cluster Creation Project from 2002.

## Funding History

1. 2002-2006 Innovative Cluster Creation Project promoted by the MECSST

2. 2006-2007 Keihanna New Industry Frontier Creation Project by Kyoto Pref.

3. 2006-2007 Support Program of Research & Development Collaborated with Industries, Universities and Public by KI21

## I ntellectual property protection

Patent acquisition: Overseas 1

「Tactile Sensor·Grasping Robot,

USP6886415 ]

Patent application: Domestic 6, Overseas 2

「Tactile Sensor·Grasping Robot」,etc.

Φ16×H3、□20×20×H3

Tri-axial force sensor

Characteristics : Small- and Thin-type

(3mm in thickness)

Rated Force : 50N, 100N, 200N, 500N

(W160×D39×H101)

Transportable Data Logger(self-powered)

Sampling Frequency : 10KHz

Maximum 16 channels

## Turning point of success

○It is important to build a confidential relationship with regional companies on a routine basis and obtain information for social needs.

At the start of development, polite cooperation is carried out for the preparation of an effective application form in order to get the support of the effective funds.

○After commercialization of the product, information of its product is transmitted at conferences, exposition etc., and its product is effectively advertised.