Research on a Denoising Method of the Force Sensor Signal Based on Multiple Filter

Abstract:

Forcesensor is very important in the rehabilitation robot. However, the force sensorsignals will introduce noise easily on the process of transmitting, amplifyingand sampling, which is very unfavorable for the robot motion control. Thispaper reviews the common digital filtering algorithm and analyzes theirprinciples, advantages and disadvantages, then designs an improved filteringalgorithm combines the limiting filtering algorithm withthe first-order lag filtering algorithm. At last, this paper verifies thefiltering effect by theoretical analysis, simulation and experiments.

• Periodical: Applied Mechanics and Materials (Volumes 727-728)
• Pages: 620-625
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.727-728.620
• Online since: January 2015
• Authors: Xiao Jian Wu*, Guo Kun Zuo, Zhong Zhu Yang, Shang Qing Xiao
• Keywords: First-Order Lag Filtering Algorithm, Force Sensor, Improved Filtering Algorithm, Limiting Filtering Algorithm, MATLAB/SIMULINK, Noise

References

[1] Shuguo Wang, Qiang Zhan and Zaili He: Robotics and Applications. Vol. 1 (1998), pp.4-4 (In Chinese).

[2] Yu Ge, Zhongcheng Wu: Robots. Vol. 25 (2003), pp.188-192 (In Chinese).

[3] Xianwu Huang, Xiaoxia: Principles and applications of sensor. University of Electronic Science and Technology Press, 1999 (In Chinese).

[4] Zhongxin Lin: Electrical Measurement & Instrumentation. Vol. 44 (2007), pp.58-61 (In Chinese).

[5] Qinghe Wang, Qingshan Wang: Measurement Technology. Vol. 4 (2003), pp.53-54 (In Chinese).