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http://dx.doi.org/10.7736/KSPE.2016.33.4.309

Design of Three-Axis Force/Torque Sensor for Rehabilitation Robot  

Jung, Jae-Hyun (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
Kim, Gab Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
Publication Information
Journal of the Korean Society for Precision Engineering / v.33, no.4, 2016 , pp. 309-316 More about this Journal
Abstract
In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.
Keywords
Three-Axis force/torque sensor; Two-Step parallel plate beam; Parallel plate beam; Interference error; Rated output;
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Times Cited By KSCI : 3  (Citation Analysis)
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