/FootForceSensor_ver1_0

Foot force sensor for SUSTAINA-OP

OtherNOASSERTION

FootForceSensor Ver. 1.0

About FootForceSensor

FootForceSensor is a sensor that measures the pressure applied to the sole of a biped robot's foot by attaching strain gauges (load cells) to four locations on each foot.
It is under development to detect the position of the robot's center of gravity and to improve gait control.

About Ver. 1.0

The values of the four strain gages can be read by the Pro Micro (usable as an Aruduino Leonardo) and transferred to the computer board via a USB interface or a 3.3V system RS-485 interface to which Kondo's B3M servo motors can be connected.
Power can be supplied from the same connector as one communication, from USB bus power in the case of USB interface communication, or from Kondo's B3M servo motor connector in the case of RS-485 interface communication.
To allow left and right legs to use the same firmware, a shortland is grounded on the board to identify left and right.
under construction
PCB preview image
After component mounting

Repository Contents

\image
PCB preview images and capture of design screen
\libraries
Libraries used in Autodesk Eagle design
Schematic.pdf
Circuit diagram of this product
BOM.txt
Parts lists output from design data
.brd
Board wiring design file by Autodesk Eagle
.sch
Schematic design file by Autodesk Eagle
Gerber_data.zip
Zip folder of Gerber format files for PCB manufacturing requests.
LICENSE
This is a license to use this product. Please confirm before use.
.gitignore
File to exclude cache files from management.

Documentation

BOM

Eagle Design Parts # Q'ty Mfr. Product # Supplier Description
C1, C2, C3, C5, C6, C8, C9, C10, C12, C13, C14, C16 12 GRM188R71E105KA12 Akizuki Multilayer Ceramic Capacitors SMD/SMT 1uF 25V 10% 0603
C18, C19, C20, C21 4 GRM188R6YA106MA73 Akizuki Multilayer Ceramic Capacitors SMD/SMT 10uF 35V 20% 0603
C4, C7, C11, C15, C17 5 GCM188L81H104K57 Akizuki Multilayer Ceramic Capacitors SMD/SMT 0.1uF 50V 10% 0603
CH1, CH2, CH3, CH4, CH5 5 S4B-XH-A(LF)(SN) Akizuki Connector Header Through Hole, Right Angle 4 position 2.5mm
IC1, IC2, IC3, IC4 4 HX711 Akizuki 24-Bit Analog-to-Digital Converter (ADC) for Weigh Scales
IC5 1 ADM3078E Mouser RS-485/RS-422 Transceiver (Half Duplex, 16 Mbps, DE/RE)
LED1, LED2, LED3 3 150060VS86000 Mouser Standard LEDs - SMD Green 2V 20mA 573nm 0603
M1 1 DEV-12640 Mouser Development Boards & Kits - AVR Pro Micro - 5V/16MHz
M1 1 6604S-40 Akizuki 2.54mm Pin Socket Strip, Single Row
M1 1 PHA-1x40SG Akizuki 2.54mm Pin Header Strip, Straight, Single Row
R1, R4, R7, R10 4 RC0603FR-1320KL Mouser Thick Film Resistors - SMD 20 kOhms 100-200mW 1% 0603
R13, R14, R15, R16, R17, R18 6 RC0603FR-1010KL Mouser Thick Film Resistors - SMD 10 kOhms 100-200mW 1% 0603
R19, R21 2 RC0603FR-10680RL Mouser Thick Film Resistors - SMD 680 Ohms 100-200mW 1% 0603
R2, R5, R8, R11 4 RC0603FR-138K2L Mouser Thick Film Resistors - SMD 8.2 kOhms 100-200mW 1% 0603
R20 1 RC0603FR-10120RL Mouser Thick Film Resistors - SMD 120 Ohms 100-200mW 1% 0603
R3, R6, R9, R12, R22, R23, R24 7 RC0603FR-101KL Mouser Thick Film Resistors - SMD 1 kOhms 100-200mW 1% 0603
T1, T2, T3, T4 4 MMBT3906 Akizuki Bipolar Transistors - BJT Bipolar Transistor, SOT-23, 40V, 200mA, PNP
T5, T6, T7 3 BSS138 Akizuki 50V N-Channel Enhancement Mode MOSFET - ESD Protected
U1 1 LM1117GS-3.3 Akizuki LDO Voltage Regulator 3.3V 1A
U2 1 LD1117S50 Akizuki LDO Voltage Regulator 5.0V 0.8A

PCB Fabrication

PCB(Printed Circuit Board) manufacturing was outsourced to Elecrow.
The custom specifications are as follows.
  • Layer : 2 layers
  • Dimensions : 50 x 40
  • Different PCB Design : 1eg
  • PCB Thickness : 1.6
  • PCB Color : Black
  • Surface Finish : HASL
  • Castellated Hole : No
  • Copper Weight : 1oz
  • PCB Stencil : Stencil 10cm X 10cm no frame[Top]
The data used to order fabrication are as follows.

Contact

If you have any questions, please contact MasatoKubotera, the product's designer, by E-mail.
E-mail : masatokubotera06@yahoo.co.jp

License Information

This product is open source.
Please review the LICENSE file for license information.

FootForceSensor Ver. 1.0 by Masato Kubotera is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.