This is an example of a sensing operation during the process of work-handling in a robot manipulator. Strain gauges can be used to measure the force acting on the object and are mounted on the fingers of a gripper. Strain gauges 2 & 3 are attached inside of the finger. Strain gauges 1 & 4 are attached to the outside of the finger.
When the object is grasped, gripping force causes strain gauges 2 & 3 to stretch and 1 & 4 to compress. The resistance of the gauges 2 & 3 increase, while the resistance of gauges 1 & 4 decrease. Suppose the strain gauges are used as force-sensors, what is the bridge output when there is no gripping force? What is the output voltage for a gripping force that causes a strain of 3000 µm?
(Let us assume the supply voltage to be 12V. Strain gauges have unstrained resistance of 1000?.Use the formula, 
What will be an ideal response?
Consequently, gauges 2&3 increase and 1&4 decrease by 6 .
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