Browse > Article
http://dx.doi.org/10.5369/JSST.2013.22.2.118

Design of a Three-Axis Force Sensor for Wrist Bending-Exercise Rehabilitation Robot  

Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National Unversity)
Publication Information
Journal of Sensor Science and Technology / v.22, no.2, 2013 , pp. 118-123 More about this Journal
Abstract
Most serious stroke patients have the paralysis of their wrists, and can't use of their hands freely. But their wrists can be recovered by rehabilitation exercise. Recently, professional rehabilitation therapeutists exercise the wrists of stroke patients in hospital. But the wrists of stroke patients have not rehabilitated, because the therapeutists are much less than stroke patients in number. Therefore, the wrist bending-exercise rehabilitation robot that can measure the bending force of the patients' wrists is developed. In this paper, the three-axis force sensor was designed for the wrist bending-exercise rehabilitation robot. As a test results, the interference error of the three-axis force sensor was less than 0.85%. It is thought that the sensor can be used to measure the wrist bending force of the patient.
Keywords
Three-axis force sensor; Interference error; Rated output; Wrist rehabilitation robot; Wrist bending exercise;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 M. H. Rahman, M. Saad, J. P. Kenne, and P. S. Archambault, "Modeling and development of an exoskeleton robot for rehabilitation of wrist movements", 2010 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM 2010), pp. 25-30, 2010.
2 B. C. Tsai, W. W. Wang, L. C. Hsu, L. C. Fu, and J. S. Lai, "An articulated rehabilitation robot for upper limb physiotherapy and training", 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2010), pp. 1470-1475, 2010.
3 S. Liu, Y. Xie, S. Jiang, and J. Meng, "Interactive control for the arm rehabilitation robot", 2009 International Workshop on Intelligent Systems and Applications (ISA 2009), pp. 1-4, 2009.
4 W. Huo, J. Huang, Y. W. Jun, and L. C. Wu,"Control of upper-limb power-assist exoskeleton based on motion intention recognition", 2011 IEEE International Conference on Robotics and Automation, pp. 2243-2248, 2011.
5 A. Umemura, Y. Saito, and K. Fujisaki, "A study on power-assisted rehabilitation robot arms operated by patient with upper limb disabilities", 2009 IEEE International Conference on Rehabilitation Robotics (ICORR 2009), pp. 451-456, 2009.
6 Y. Ren, H. S. Park, and L. Q. Zhang, "Developing a whole-arm exoskeleton robot with hand opening and closing mechanism for upper limb stroke rehabilitation", 2009 IEEE International Conference on Rehabilitation Robotics (ICORR 2009), pp. 761- 765, 2009.
7 K. Nagai, Y. Ito, M. Yazaki, K. Higuchi, and S. Abe, "Development of a small six-component force/torque sensor based on the double-cross structure", Journal of the Robotics Society of Japan, Vol. 22, No. 3, pp. 361-369, 2004.   DOI
8 G. S. Kim and J. J. Park, "Development of the 6-axis force/moment sensor for an intelligent robot's gripper", Sensor Actuat. A-Phys., Vol. 118, pp. 127- 134, 2005.   DOI   ScienceOn
9 ATI Industrial Automation, "Multi-axis forcre/torque sensor", ATI Industrial Autonation, pp. 4-45, 2005.
10 G. S. Kim and J. W. Yoon, "Development of calibration system for multi-axis force/moment sensor and its uncertainty evaluation," KSPE, Vol. 24, No. 10, pp. 91-98, 2007.   과학기술학회마을