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View Full Version : [Question(s)] How can I connect 8 Flexiforce sensors?



Nina91
01-03-2014, 05:49 PM
Hello,

Complete newbie to robotics here.
I need help with connecting 8 flexiforce sensors A201 to a Robotis Board CM-900: http://support.robotis.com/en/product/auxdevice/controller/cm-900_manual.htm.
I read the flexiforce sensors need an additional circuit, but I don't know how to do this.
So I found the Flexiforce sensor kit http://www.trossenrobotics.com/flexiforce-25lb-resistive-force-sensor-kit.aspx from phidget, but therefore do I need the Phidget Interfacekit 8/8/8 and is it possible to connect it to the CM-900 via usb?
The Cm-900 has 10 ( 12bit ) Analog In(ADC) can I put 8 sensor kits to it?

Or is there another better way to do this and do I overlook something?

The additional circuit:
http://forums.trossenrobotics.com/image/png;base64,iVBORw0KGgoAAAANSUhEUgAAAlIAAAF/CAIAAAANZ7BRAAAgAElEQVR4nOy9e1xTV7r/v1fO6/c951vlgKhtbU/rZbx0vE2nirZiO60FC6gVsJ2bgO3US9tpvdupou20gHJNsAoko CIkdGbOVG0rJNgzp/3N9FTrDUi4KCQ7V0DRXmaG9lTJXmt//3iS5TaBGBBIkPV+7ZeGnZ29197ZWZ/9POt5nsWJDAaDwWAMG7hAN4DBYDAYjMGDyR6DwWAwhhFM9hgMB oMxjGCyx2AwGIxhBJM9BoPBYAwjmOwxGAwGYxjBZI/BYDAYwwgmewwGg8EYRjDZYzAYDMYwgskeg8FgMIYRTPYYDAaDM YxgssdgMBiMYQSTPQaDcadBSKBbwAhimOwxGIw7CkJEjImH8gm YeK9kDE+Y7DEYjDsEQlyaJ2AiYAJ/wuIUCFU+Jn7DHCZ7DAYjGBEkEgViRs016b9S6GZvZRWfrLWAzs G/p/TWXZkqp8Bkj8Fkj8FgBCU79yjjEpJj45Ni45PiEpLjEpKLyqsc HZ1OgYiiiDERvZTPKZAliSmOjs6lK1Z9oD2drjj8dnZJYVllRn 7Z0eqzsfFJ9sudSxJT4LOMYQuTPQaDEYzEJSRzCHEUhDiOQwip NDow4Lw/Ar7N2PgkJJONCAk7ojvjFAjG5IjuTEhoOJLJ4hKSYZvBPx1G8M Bkj8FgBCOx8Ukcxx07cQ5G5rqc+MTnjSGh4QghR0fntS4Mm0kN PgGTU3rrxKkzR425d8KUGStXb+5y4i4nTlm3ja48WWth1t4wh8 keg8EIRmKWr+Q47mj1WRqZKWCSvHYrQujPVV92ObHo5eTEmCxJ 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Thank You!

tician
01-03-2014, 06:51 PM
The sensor is just a variable resistor made from two layers of polyester with conductive ink sandwiched around a small volume of resistive dye. To use it with any of ADC pins of the CM-900, you need only a 10kOhm~100kOhm fixed value resistor placed in series with each sensor to create a voltage divider. The fixed resistor has one lead connected to 3.3V and the other connected to one lead of the sensor; that common lead is also connected to an ADC pin of the CM-900. The last lead of the sensor is connected to ground. As the sensor is compressed, its resistance decreases and the voltage at the ADC pin varies from 3.3V~0V depending on applied force. V_adc = (R_sensor)/(R_sensor + R_fixed) * 3.3V. The selection of the fixed resistor's value depends on what part of the sensor's full range you will be using.

The phidgets adapter board appears to have additional amplification and/or filtering, but it should output an analog voltage that will not require a phidgets control board. The phidgets adapter does appear to require a 5V input which would likely produce an analog output that exceeds the 3.3V limit of the CM-900 ADC pins.

jwatte
01-04-2014, 03:22 PM
It sounds to me as if the output impedance of that voltage divider would be too high for a good reading. It will probably work well for infrequent, slow, reads.

If you want to read at a high (kilohertz) rate, then you will want to use that voltage divider, but add a simple voltage follower (100% negative feedback) opamp circuit for buffering. That, too, is pretty simple.