Force-senor for artificial lobster leg

• Online Access: http://hdl.handle.net/2047/d10010646

A robotic lobster system is currently undergoing research and development at the Northeastern University Marine Science Center. The system requires the design of a force sensing mechanism for each of its eight legs. This mechanism plays a crucial role in determining the walking phase of the lobster and in alerting the controller to changed phases of walking. The following report highlights the design efforts and plans put forth in the developmental process of the force sensor design. The team researched various force sensing mechanisms currently available. This research inspired many conceptual designs. With the aid of a decision matrix, the design team was able to evaluate the strengths and weaknesses of each concept. This process led to refinement of the most feasible design: membrane switches. The membrane switch design relies on closing a switch within the sensing mechanism through incurred forces applied to the sensor tip. Preliminary testing indicates initial success of the design, however, further testing is required for analysis. Initial costs are anticipated to be approximately 5 dollars per sensor tip for mass production quantities.