The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Development of 6-Axis Stiffness Measurement Device for Prosthetic Socket Design

의수 소켓 설계를 위한 6축 인체 탄성도 측정 장치 개발

  • Oh, Donghoon (Department of Electrical and Electronic Engineering, Hanyang University) ;
  • Lee, Seulah (Hanyang University) ;
  • Choi, Youngjin (Department of Electrical and Electronic Engineering, Hanyang University)
  • Received : 2018.09.29
  • Accepted : 2018.12.04
  • Published : 2019.02.28
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Abstract

The paper proposes a stiffness measurement device composed of a measurement part including six indenters and a fixing part including four fixtures. The device is able to make simultaneously measurements of the stiffness of human arm. The six indenters make use of both position and force control schemes sequentially whenever needed. In addition, the loadcells and the digital encoders are attached to the indenters and electric motors, respectively, so that the data can be provided in real time. On the end of the indenter, two-axis potentiometer is attached in order to measure the angle difference between the applied force axis and the axis normal to the skin of human arm, and to convert the force measured on the loadcell into the actual applied force to skin. For this purpose, the mapping between the voltage output and the angle of potentiometer was obtained by fitting it for each axis. Ultimately, the measurement device was able to measure the stiffnesses of six regions of human arm.

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References

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