센서학회지 (Journal of Sensor Science and Technology)

  • 제24권2호
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  • Pages.137-143
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  • 2015
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  • 1225-5475(pISSN)
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  • 2093-7563(eISSN)
한국센서학회 (The Korean Sensors Society)
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상지재활로봇의 팔힘측정용 2축 힘센서 설계

Design of a Two-Axis Force Sensor for Measuring Arm Force of an Upper-Limb Rehabilitation Robot

  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National Unversity)
  • 투고 : 2015.01.15
  • 심사 : 2015.04.13
  • 발행 : 2015.03.31
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초록

This paper describes the design of a two-axis force sensor with two step plate beams for measuring forces in an upper-limb rehabilitation robot. The two-axis force sensor is composed of a Fz force sensor and a Ty torque sensor. The Fz force sensor measures the force applied to a patient's arm pushed by a rehabilitation robot and the force of patient's arm. The Ty torque sensor measures the torque generated by a patient's arm motion in an emergency. The structure of sensor is composed of a force transmitting block, two step plate beams and two fixture blocks. The two-axis force sensor was designed using FEM (Finite Element Method), and manufactured using strain-gages. The characteristics test of the two-axis force sensor was carried out. as a test results, the interference error of the two-axis force sensor was less than 1.24%, the repeatability error of each sensor was less than 0.03%, and the non-linearity was less than 0.02%.

키워드

참고문헌

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  9. J. J. Park and G. S. Kim, "Development of the 6-axis force/Moment Sensor for an Intelligent Robot's Gripper", Sens. Actuator A-phys, Vol. 118, pp. 127-134, 2005. https://doi.org/10.1016/S0924-4247(04)00538-2
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  11. G. S. Kim, H. J. Shin and J. W. Yoon, "Development of 6-Axis Force/moment Sensor for a Humanoid Robot's Intelligent Robot", Sens. Actuator A-phys, Vol. 141, Issue 2, pp. 276-281, 2008. https://doi.org/10.1016/j.sna.2007.08.011
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  13. ATI Industrial Automation, "Multi-Axis Force/Torque Sensor", ATI Industrial Automation, pp. 4-45, 2005.

피인용 문헌

  1. Decoupling Principle Analysis and Development of a Parallel Three-Dimensional Force Sensor vol.16, pp.12, 2016, https://doi.org/10.3390/s16091506