• Journal of the Korean Society for Precision Engineering
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• v.33 no.4
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• pp.309-316
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• 2016

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%.

• Progress in Medical Physics
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• v.19 no.4
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• pp.291-297
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• 2008

The purpose of this study is to optimize a parallel-hole collimator for small gamma camera having the pixellated crystal array and evaluate the effect of crystal-collimator misalignment on the image quality using a simulation tool GATE (Geant4 Application for Tomographic Emission). The spatial resolution and sensitivity were measured for the various size of hexagonal-hole and matched square-hole collimators with a Tc-99m point source and the uniformity of flood image was estimated as a function of the angle between crystal array and collimator by misalignment. The results showed that the spatial resolution and sensitivity were greatly improved by using the matched collimator and the uniformity was reduced by crystal-collimator misalignment.