01174nas a2200145   4500008004100000245006100041210006000102300001400162520069600176653001200872100001500884700001300899700002000912856009600932       1999                        eng d00aOptimal Design of Dynamic Multiaxis Force/Torque Sensors0 aOptimal Design of Dynamic Multiaxis ForceTorque Sensors  a2981-29863 aThe measurement of time-varying forces and torques applied to flexible mechanical structures cannot be pursued by relying on quasi-static approximations. However, the problem can be cast as a problem of dynamic system inversion, provided reliable models of the dynamic relationship among forces, torques and measurement gauges are available. Within this framework it is possible, in particular, to define optimality criteria for gauge placements in order to guide the design of such dynamic force/torque sensing devices. Experimental results show that the approach proposed is indeed capable of reconstructing forces, torques and point of contact applied to a flexible beam with a rigid part10aSensors1 aBicchi, A.1 aCaiti, A1 aPrattichizzo, D  uhttp://95.110.227.16/publications/optimal-design-dynamic-multiaxis-forcetorque-sensors.html