Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Development of Force Sensors for Rectangular-Type Finger-Rehabilitation Robot Instruments and Their Characteristic Test

직교형 손가락 재활로봇기구를 위한 힘센서 개발 및 특성실험

  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National Unversity)
  • 김갑순 (경상대학교 제어계측공학과)
  • Received : 2011.11.25
  • Accepted : 2012.01.04
  • Published : 2012.03.31
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Abstract

Stroke patients must do the rehabilitation exercise to recover their fingers' function using a rehabilitation robot. But the rehabilitation robots mostly have not the force sensors to control the applied force to each finger. Thus, in this paper, the development of a force sensor for thumb rehabilitation robot and four two-axis force sensors for four-finger rehabilitation robot were developed. The force sensor and four two-axis force sensors could be used to measure the applied force to each finger, and the forces could be used to control the applied forces to each sensor in rehabilitation exercise using in the rehabilitation robot. The developed sensors have non-linearlity error of less than 0.05 %, repeatability error of less than 0.03 %, and the interference error of two-axis force sensor is less than 0.2 %.

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References

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