• 센서학회지
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• 제27권2호
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• pp.105-111
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• 2018

In this paper, a torque sensor is designed and fabricated to measure the knee joint torque of a walking assist robot for stroke patients. The torque sensor sensing part was modeled on the link of the part connected to the knee joint motor. The torque capacity of the knee joint was calculated by simulation and the size of the torque sensor sensing part was designed using the finite element method. The torque sensor was fabricated by attaching a strain gauge to the sensing part. Characteristic experiments were conducted to characterize the torque sensor, and the torque sensor was calibrated to utilize it for the control of the walking assist robot. As a result of the characteristics test, the reproducibility error and the nonlinearity error of the torque sensor were 0.03% and 0.04%, respectively. Therefore, it is considered that the developed torque sensor can be used to measure the torque applied to the knee joint when walking on a walking assist robot.

• 한국정밀공학회지
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• 제33권4호
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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%.

• 제어로봇시스템학회논문지
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• 제22권7호
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• pp.524-529
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• 2016

We describe the design and fabrication of a two-axis force/torque sensor with parallel-plate beams (PPBs) and single beams for measuring force and torque in hip-joint rehabilitation exercise using a lower rehabilitation robot. The two-axis force/torque sensor is composed of an Fz force sensor and a Tz torque sensor, which detect z direction force and z direction torque, respectively. The two-axis force/torque sensor was designed using the FEM (Finite Element Method) and manufactured using strain gages. The characteristics experiment of the two-axis force/torque sensor was carried out. The test results show that the interference error of the two-axis force/torque sensor was less than 0.64% and the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03%. It is thought that the developed two-axis force/torque sensor could be used for a lower rehabilitation robot.

• 센서학회지
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• 제25권2호
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• pp.148-154
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• 2016

This paper describes the design and fabrication of a two-axis force/torque sensor and an one-axis force sensor with parallel plate beams(PPSs) for measuring forces and torque in an ankle rehabilitation exercise using by a lower rehabilitation robot. The two-axis force/torque sensor is composed of a Fy force sensor and Tz torque sensor and the force sensor detects x direction force. The two-axis force/torque sensor and one-axis force sensor were designed using by FEM(Finite Element Method), and manufactured using strain-gages. The characteristics experiment of the two-axis force/torque sensor and one-axis force sensor were carried out respectively. As a test results, the interference error of the two-axis force/torque sensor was less than 1.56%, the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03% respectively, and the repeatability error and the non-linearity of the one-axis force sensor were less than 0.03% and 0.02% respectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2058-2062
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• 2005

This article describes the useful way to measure the torque and RPM of the geared motor. For this, we have made the planetary geared reduction motor including the torque sensor unit which consists of hall effects sensor and permanent magnet. Our monitoring system displays the sensing values (torque, rpm) and the calculated value (power) and it also has the network capability using the Bluetooth protocol. We will show that our solution is much more inexpensive and simple method to measure torque and rpm than before.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1087-1090
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• 2007

A wireless magnetic torque sensor is utilized to measure the torque generated in the rotating shaft in magnetic field without connecting to the shaft by any wire. In this study, a new wireless magnetic torque sensor was introduced. The structure of the sensor was explained detailed as well as its operation principle. Resulting from the torque measurement experiment results, the sensor was proven to measure the generated torque effectively. Compared with traditional contact torque sensor, the wireless one has low cost and good environment adaptation ability. Moreover, the intractable wrapping wires around the shaft are removed in this design. Hence the wireless torque sensor may be expected as a possible sensing device for many applications, such as the electric assisting rotation system in automobiles, the torque sensing system in motors, the arm rotation system in robotics and so on.

• 대한기계학회논문집A
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• 제26권12호
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• pp.2590-2597
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• 2002

A new torque measuring apparatus adopting the basic principle of a capacitive type sensor is proposed in this article. Two plate electrodes are working as a capacitive sensor, whose capacitance varies as torque is applied. One end of each plate is connected to the torque carrying shaft. Output characteristics of the torque sensor were theoretically analyzed and its validity was investigated through experiment. Calculations and calibration experiments show that the output is nonlinear, that is, the sensitivity is very high at low torque but decreases as torque increases. The sensitivity of the proposed system is about 100 times roughly higher than that of a conventional 4-strain gauge type torque sensor.

• 대한기계학회논문집A
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• 제25권7호
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• pp.1039-1046
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• 2001

Among the automotive steering systems, an Electric Power Assisted steering (EPAS) system utilizes an electronically controlled electric motor to provide steering assistance to the driver. The key components of the EPAS system are torque sensor, ECU (Electronic Control Unit), and DC Motor. The most important component of the EPAS is the torque sensor. The conventional torque sensor has complicated mechanical mechanism of torque detection. However, we suggest a non-contact torque sensor for EPAS using Maluss polarization law. It was found that the sensor exhibited not only excellent linearity but also superior characteristics of hysteresis, temperature and vibration.

• 한국자동차공학회논문집
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• 제13권5호
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• pp.121-126
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• 2005

This paper describes the attributes, performance and development status of a high performance capacitive torque sensor intended for use in a electric power steering (EPS) system. The EPS system is composed of torque sensor, ECU, motor, gears and etc. Among the elements, torque sensor in the steering column is one of the core technologies. The new capacitive torque sensor in this paper is developed differently from working principle and mechanical structure compare to extant torque sensors in market and patent. Based on the result of numerical analysis, a experimental equipment is made which is composed of a test jig and a capacitive sensor and validity of numerical analysis and feasibility of the torque sensor are verified.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1679-1683
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• 2005

This paper suggests the new type of a joint torque sensor which is attached at each joint of a manipulator for making compliance. Previous six axis force/torque sensors are high cost and installed end-effector of the manipulator. However, torque on links of previous an end-effector cannot be measured. We design a joint torque sensor that can be fully integrated with an actuator in order to measure applying torque of the manipulator. The sensor system is designed through the structural analysis. The proposed joint torque sensors are installed to the 6 DOF manipulator of a mobile robot for hazardous works and we implemented experiments of measuring applied torque to the manipulator. By the experiment, we proved that the proposed low-cost joint torque sensor gives acceptable performance when we control a manipulator.