Browse > Article
http://dx.doi.org/10.5369/JSST.2015.24.2.137

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)
Publication Information
Journal of Sensor Science and Technology / v.24, no.2, 2015 , pp. 137-143 More about this Journal
Abstract
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%.
Keywords
Two-axis force sensor; Rated output; Interference error; Two step plate beam;
Citations & Related Records
연도 인용수 순위
  • Reference
1 L. Pan, A. Song, G. Xu, H. Li, H. Zeng and B. Xu, "Safety Supervisory Strategy for an Upper-Limb Rehabilitation Robot Based on Impedance Control", Int. J. Adv. Robot. Syst., Vol. 10, pp. 1-12, 2013.   DOI
2 P. R. Culmer, A. E. Jackson, S. Makower, R. Richardson, J. A. Cozens, M. C. Levesley, and B. B. Bhakta, "A Control Strategy for Upper Limb Robotic Rehabilitation With a Dual Robot System", IEEE-ASME Trans. Mechatron., Vol. 15, No. 4, pp. 575-585, 2010.   DOI   ScienceOn
3 H. C. Kim, L. M. Miller, I. Fedulow, M. Simkins, G. M. Abrams, N. Byl, and J. Rosen, "Kinematic Data Analysis for Post-Stroke Patients Following Bilateral Versus Unilateral Rehabilitation With an Upper Limb Wearable Robotic System", IEEE Trans. Neural Syst. Rehabil. Eng., Vol. 21, No. 2, 2013.
4 C. Li, Y. Inoue, T. Liu, K. Shibata and K. Oka, "A Self-controlled Robot for Upper Limb Rehabilitation", Proceedings of the 2010 IEEE International Conference on Information and Automation(ICIA), pp. 115-118, 2010. June 20 - 23, Harbin, China
5 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", Adv. Robot., Vol.22, No.3, pp. 361-369, 2004.
6 H. M. Kim, J. W. Yoon and G. S. Kim, "Development of a Six-axis Force/moment Sensor for a Spherical-type Finger Force Measuring System", IET Sci. Meas. Technol., Vol. 6, Issue2, pp. 96-104, 2012.   DOI
7 A. Song, J. Wu, G. Qin, W. Huang, "A Novel Self-decoupled Four Degree-of-freedom Wrist Force/torque Sensor", Measurement, Vol. 40, Issues 9-10, 2007, Pages 883-891.   DOI
8 G. S. Kim, "Development of a Six-Axis Force/Moment Sensor with Rectangular Taper Beams for an Intelligent Robot", Int. J. Cont. Autom. Syst., Vol. 5, No. 4, pp. 419-428, 2007.
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.   DOI
10 S. A. Liu, H. L. Tzo, "A Novel Six-component Force Sensor of Good Measurement Isotropy and Sensitivities", Sens. Actuator A-phys, Vol. 100, Issues 2-3, pp. 223-230, 2002.   DOI
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.   DOI
12 G. S. Kim and J. W. Yoon, "Development of Calibration System for Multi-axis Force/moment Sensor and its Uncertainty Evaluation", Int. J. Precis. Eng. Mannt., Vol. 24, No. 10, pp. 91-98, 2007.
13 ATI Industrial Automation, "Multi-Axis Force/Torque Sensor", ATI Industrial Automation, pp. 4-45, 2005.