This product is currently under development!
This product can connect up to four load cells, and the change in resistance of the load cells can be amplified by an amplifier to 24 bit and sensed by a microcontroller at 80 Hz. This product uses a ready-made microcontroller board, simplifying PCB design and assembly of electronic components. For communication with the microcontroller, in addition to the USB connector on the microcontroller, RS-485 converted from UART is available.
The RS-485 I/F connector has power input of up to 15 V. This allows servo motors with RS-485 I/F to be connected to the same bus as servo motors, etc.
The microcontroller that can be attached to this product is the XIAO series manufactured by Seeed Studio. Select a microcontroller from the lineup according to the required performance.
This product is developed as a foot load measurement module for SUSTAINA-OPTM and is used, for example, to estimate the position of the robot's center of mass.
In SUSTAINA-OPTM, four of the following load cells are connected to this module.
| Top Surface of PCB | Bottom Surface of PCB | Assembled Electronic Components |
|---|---|---|
 |
 |
- 50 mm x 40 mm PCB layout
- 4 x ø3.2 Mounting Holes
-
4 x Load Cell Ports
- 1" (2.54mm) pitch through-holes for XH connecter(JST)
- BLK/E-: Excitation- (E-) or GND
- RED/E+: Excitation+ (E+) or VCC
- GRN/A+: Output+, Signal+, or Amplifier+
- WHT/A-: Output-, Signal-, or Amplifier-
- 1" (2.54mm) pitch through-holes for XH connecter(JST)
-
1 x RS-485 I/F Port
- 1" (2.54mm) pitch through-holes for XH connecter(JST)
- DM: RS-485 Data Signal Minus
- DP: RS-485 Data Signal Plus
- VCC: Power Input (Input voltage: 6.2~15V)
- GND: Common Ground
- 1" (2.54mm) pitch through-holes for XH connecter(JST)
- Two selectable differential input channels
- On-chip active low noise PGA with selectable gain of 32, 64 and 128
- On-chip power supply regulator for load-cell and ADC analog power supply
- On-chip oscillator requiring no external component with optional external crystal
- On-chip power-on-reset
- Simple digital control and serial interface: pin-driven controls, no programming needed
- Selectable 10SPS or 80SPS output data rate
- Simultaneous 50 and 60Hz supply rejection
- Current consumption including on-chip analog power supply regulator: normal operation < 1.5mA, power down < 1uA
- Operation supply voltage range: 2.6 ~ 5.5V
- Operation temperature range: -40 ~ +85C
- 16 pin SOP-16 package
This product is designed with the following software.
- \images
- PCB preview images and capture of design screen
- \libraries
- Libraries used in Autodesk Eagle design
- \documents
- Documentation for making and using this product
- \pcb_order
- Gerber data and documentation for ordering PCB
- schematic.pdf
- Circuit diagram of this product
- *.brd
- Board wiring design file by Autodesk Eagle
- *.sch
- Circuit diagram design file by Autodesk Eagle
- .gitignore
- A file that tells Git not to track a particular file
- LICENSE
- License to use this product
The following documents are available for this product.
- \pcb_order\README.md: Information for ordering the PCB
- \document\BOM.md: List of electronic components assembled on the PCB
This product was designed with reference to the following products.
The development of this module is based on the following foot load measurement modules in the RoboCup Humanoid League.
- Rhoban/ForceFoot: Robotic foot design involving force sensors
- bit-bots/bit_foot: Foot pressure sensor for a humanoid robot
If you have any questions, please contact the designer of this product, Masato Kubodera, by e-mail.
E-mail: [email protected]
This product is open source. Please review the LICENSE for license information.
This product by Masato Kubotera is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License.