• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.876-882
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• 2010

Stroke patients can't use their hands because of the paralysis their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by measuring the pressing force to be contacted with two fingers (thumb and first finger, thumb and middle finger, thumb and ring finger, thumb and little finger). But, at present, the grasping finger force of two-finger can't be accurately measured, because there is not a proper finger-force measuring system. Therefore, doctors can't correctly judge the rehabilitating extent. So, the finger-force measuring system which can measure the grasping force of two-finger must be developed. In this paper, the finger-force measuring system with a three-axis force sensor which can measure the pressing force was developed. The three-axis force sensor was designed and fabricated, and the force measuring device was designed and manufactured using DSP (Digital Signal Processing). Also, the grasping force test of men was performed using the developed finger-force measuring system, it was confirmed that the grasping forces of men were different according to grasping methods.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.2
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• pp.89-96
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• 2016

This paper describes the design of a force measurement and communication system for the force measuring system in industrial robots. The force measurement and communication system is composed of a multi-axis force sensor and a controller for measuring the forces (x-direction force, y-direction force and z-direction force) and sending the measured forces to the robot's controller (PLC: Programmable Logic Controller). In this paper, the force measurement and communication system was designed and fabricated by using a DSP (Digital Signal Processor). An environment test and a grinding and deburring test using an industrial robot with the force measurement and communication system with three-axis force sensor were carried out to characterize the system. The tests showed that the system could safely measure the forces from the three-axis force sensor and send the measured forces to the industrial robot's controller while the grinding and deburring test was performed. Thus, it is thought that the fabricated force measurement and communication system could be used for controlling the force for an industrial robot's grinding and deburring.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.10
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• pp.91-98
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• 2007

This paper describes the development of the calibration system for a multi-axis force/moment sensor and its uncertainty evaluation. This calibration system can generate the continuous forces (${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$) and moments (${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$). Many kinds of multi-axis force/moment sensors in industries should be carried out the characteristic test or the calibration with the calibration system that can generate the forces and the moments. The calibration systems have been already developed are the disadvantages of the low capacity, the generation of step forces(10N, 20N ...) and step moments(1Nm, 2Nm ...) with weights, the high coasts in manufacture and so on. In this paper, the calibration system for a multi-axis force/moment sensor that can generate the continuous three forces and three moments was developed. Their ranges are $0{\sim}2000N$ in all force-directions and $0{\sim}400Nm$ in all moment-directions. And the system was evaluated in the expanded relative uncertainty. They were ${\pm}0.0004$ in all forces ${\pm}Fx,\;{\pm}Fy$ and ${\pm}Fz$, and ${\pm}0.0004$ in all moments ${\pm}Mx,\;{\pm}My$ and ${\pm}Mz$.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.759-760
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• 2010

• Journal of Sensor Science and Technology
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• v.20 no.3
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• pp.172-177
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• 2011

Finger patients can't use their hands because of the paralysis their fingers. Their fingers are recovered by rehabilitating training, and the rehabilitating extent can be judged by measuring the pressing force to be contacted with two fingers(thumb and first finger, thumb and middle finger, thumb and ring finger, thumb and little finger). At present, most hospitals have used a thin plastic-plate for measuring the two-finger grasping force, and we can only judge that they can grasp the plate with their two-finger through it, because the plate can't measure the two-finger grasping force. But, recently, the force measuring system for measuring two-finger grasping force was developed using three-axis force sensor, but it is very expensive, because it has a three-axis force sensor. In this paper, two-finger force measuring system with a one-axis force sensor which can measure two-finger grasping force was developed. The one-axis force sensor was designed and fabricated, and the force measuring device was designed and manufactured using DSP(Digital Signal Processing). Also, the grasping force test of men was performed using the developed two-finger force measuring system, it was confirmed that the grasping forces of men were different according to grasping methods, and the system can be used for measuring two-finger grasping force.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.1013-1014
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• 2010

• Journal of the Korean Society for Precision Engineering
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• v.16 no.2 s.95
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• pp.5-14
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• 1999

The necessity of six axis force-torque sensors is well recognized in the fields of automatic fine assembly, deburring polishing, and automatic fish processing using robotic manipulators. The paper proposes a simple and compact elastic structure of the force-torque sensor which senses externally applied three force and three torque components. Rough surface strain distribution of the elastic structure is examined analytically, and then more accurate surface strain are obtained from finite element analysis. The compliance matrix which is a linear relationship between force components and strain measurements is obtained for the proposed sensor. Some basic principles of measuring 3 force and torque components are also presented.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.300-305
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• 2009

This paper describes the intelligent robot's hand with three-axis finger force sensors for an intelligent robot. In order to grasp an unknown object safely, it should measure the mass of the object, and determine the grasping force using the mass, then control the robot's fingers with the grasping force. In this paper, the intelligent robot's hand for an intelligent robot was developed. First, the three-axis finger force sensors were designed and manufactured, second, the intelligent robot's hand with three-axis finger force sensors were designed and fabricated, third, the high-speed control system was designed and manufactured using DSP( digital signal processor), finally, the characteristic test to grasp an unknown object safely was carried out. It was confirmed that the developed intelligent robot's hand could grasp an unknown object safely.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.152-158
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• 2022

As various mobile robots and manipulator robots have been commercialized, robots that can be used by individuals in their daily life have begun to appear. With the development of robots that support daily life, the interaction between robots and humans is becoming more important. Manipulator robots that support daily life must perform tasks such as pressing buttons or picking up objects safely. In many cases, this requires expensive multi-axis force/torque sensors to measure the interaction. In this study, we introduce a low-cost two-axis pressure sensor that can be applied to manipulators for education or research. The proposed system used three force sensitive resistor (FSR) sensors and the structure was fabricated by 3D printing. An experimental device using a load cell was constructed to measure the biaxial pressure. The manufactured prototype was able to distinguish the +-x-axis and the +-y-axis pressures.

• ETRI Journal
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• v.32 no.5
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• pp.722-728
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• 2010

This paper presents the design and fabrication model of a touchpad based on a contact-resistance-type force sensor. The touchpad works as a touch input device, which can sense contact location and contact force simultaneously. The touchpad is 40 mm wide and 40 mm long. The touchpad is fabricated by using a simple screen printing technique. The contact location is evaluated by the calibration setup, which has a load cell and three-axis stages. The location error is approximately 4 mm with respect to x-axis and y-axis directions. The force response of the fabricated touchpad is obtained at three points by loading and unloading of the probe. The touchpad can detect loads from 0 N to 2 N. The touchpad shows a hysteresis error rate of about 11% and uniformity error rate of about 3%.