• 제목/요약/키워드: foot sensor

검색결과 139건 처리시간 0.026초

Development of 6-Axis Force/Moment Sensor Considered Adult Weight for a Humanoid Robot's Foot (성인 체중을 고려한 로봇의 지능형 발을 위한 6축 힘/모멘트센서 개발)

  • Kim, Gab-Soon;Yoon, Jung-Won
    • Journal of the Korean Society for Precision Engineering
    • /
    • 제24권7호
    • /
    • pp.90-97
    • /
    • 2007
  • This paper describes the development of 6-axis force/moment sensor considered adult weight far an intelligent foot of humanoid robot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself and control the foot using the forces and moments. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to the foot, which is composed of Fx sensor, Fy sensor, Fz sensor, Mx sensor, My sensor and Mz sensor in a body. Each sensor should get the deferent rated load, because the applied forces and moments to foot in walking are deferent. Therefore, one of the important things in the sensor is to design each sensor with the deferent rated load and the same rated output. In this paper, a 6-axis force/moment sensor (rated load of Fx and Fy are 500Nm and Fz sensor is 1000N, and those of Mx and My are 18Nm, Mz sensor is 8Nm) for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using by ANSYS software (FEM (Finite Element Method) program). Then, a 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

Development of 6-axis force/moment sensor for an intelligent robot's foot (지능형 로봇 발을 위한 6 축 힘/모멘트센서 개발)

  • Kim, Gab-Soon;Shin, Hyi-Jun;Hu, Duk-Chan;Yoon, Jung-Won
    • Proceedings of the KSME Conference
    • /
    • 대한기계학회 2007년도 춘계학술대회A
    • /
    • pp.1097-1102
    • /
    • 2007
  • This paper describes the development of 6-axis force/moment sensor for an intelligent robot's foot. In order to walk on uneven terrain safely, the foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself. The applied forces and moments should be measured from a 6-axis force/moment sensor attached to a humanoid robot's foot(ankle). They in the published paper already have some disadvantage in the size of the sensor, the rated output and so on. The rated output of each component sensor (6-axis force/moment sensor) is very important to design the 6-axis force/moment sensor for precision measurement. Therefore, each sensor should be designed to be gotten similar the rated output under each rated load. So, the sensing elements of the 6-axis force/moment sensor should get lots of design variables. Also, the size of 6- axis force/moment sensor is very important for mounting to robot's foot. In this paper, a 6-axis force/moment sensor for perceiving forces and moments in a humanoid robot's foot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing elements (plate-beams) of the sensor were designed using FEM (Finite Element Method) analysis. Then, the 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from FEM analysis agree well with that from the characteristic test.

  • PDF

Predictive Control of an Efficient Human Following Robot Using Kinect Sensor (Kinect 센서를 이용한 효율적인 사람 추종 로봇의 예측 제어)

  • Heo, Shin-Nyeong;Lee, Jang-Myung
    • Journal of Institute of Control, Robotics and Systems
    • /
    • 제20권9호
    • /
    • pp.957-963
    • /
    • 2014
  • This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

Development of Force Sensors of Toes and Heel for Humanoid Robot's Intelligent Foot (인간형 로봇의 지능형 발의 발가락 및 뒤꿈치 힘센서 개발)

  • Kim, Gab-Soon
    • Journal of the Korean Society for Precision Engineering
    • /
    • 제27권10호
    • /
    • pp.61-68
    • /
    • 2010
  • In order to let the humanoid robot walk on the uneven terrains, the robot's foot should have the similar structure and function as human's. The intelligent foot should be made up of toes and heel. When it walks on the uneven terrains, the foot's sole senses the force and adjusts foot's position before robot losing his balance. In this paper, the force sensors of robot's intelligent foot for having the similar structure and function like human are developed. The heel 3-axis force/moment sensor and toe force sensors for humanoid robot's intelligent foot is developed, and the characteristic tests of them are carried out. As a result of characteristic test, the interference error of the heel 3-axis force/moment sensor is less than 2.2%. It is thought that the developed force sensors could be used to measure the reaction forces which is applied the toes and the heel of a humanoid robot.

Development of an Embedded Foot Pressure Measurement System Using Time Division Measurement Method (시분할 측정기법을 이용한 임베디드 족압 측정 시스템 설계)

  • 김시경
    • Journal of Institute of Control, Robotics and Systems
    • /
    • 제10권11호
    • /
    • pp.1022-1027
    • /
    • 2004
  • In this paper, an embedded foot pressure measurement system is proposed to measure foot pressure based on the embedded Linux system. To measure foot pressure data and to evaluate foot pressure distribution for the different insoles, FSR sensor, A/D converter, iPAQ PDA, and a time division measurement method are employed in the system. Utilizing this system, the foot pressure analysis has been performed for the different four shoes. The number of foot pressure/voltage conversion circuits are drastically decreased by the proposed time division measurement method from 406 to 14. The experimental results for the sandal, slipper, oxford shoes and sneakers demonstrate that the proposed system successfully performs the foot pressure measurement.

Unrestricted Measurement Method of Three-dimensional Walking Distance Utilizing Body Acceleration and Terrestrial Magnetism

  • Inooka, Hikaru;Kim, HiSik
    • 제어로봇시스템학회:학술대회논문집
    • /
    • 제어로봇시스템학회 2001년도 ICCAS
    • /
    • pp.94.5-94
    • /
    • 2001
  • Unrestricted measurement method of three-dimensional walking distance utilizing body acceleration and terrestrial magnetism is discussed. The three-dimensional walking distance is derived by the integration of the three dimensional acceleration of foot during swing phase. Since the sensor system attached on the foot rotates during swing phase, the acceleration data measured on the foot include acceleration of gravity which causes inaccurate calculation of the velocity and the distance. Three gyros are used to compensate the rotation of the sensor system. Moreover, one geomagnetic sensor is employed to derive the heading direction of the subject Healthy volunteers performed ...

  • PDF

Design of a Six-Axis Force/Moment Sensor using Analytical Method for Humanoid Robot Foot Module (인간형 로봇의 발 모듈 개발을 위한 분석적 방법의 6 축 힘 / 모멘트 센서 설계)

  • Yuan, Chao;Lim, Dong Hwan;Luo, Lu Ping;Han, Chang Soo
    • Journal of the Korean Society for Precision Engineering
    • /
    • 제32권4호
    • /
    • pp.359-367
    • /
    • 2015
  • The forces and moments exerted on humanoid robot foot are important information for controlling or monitoring the robot. Multi-axis force/moment sensor can be installed under humanoid robot foot to measure forces and moments. The sensor should have large stiffness to support the robot weight and small size not to disturb the motion of the robot. In this paper, we designed a 6-aixs force/moment sensor which has good accuracy, large measuring range, and new compact structure. In addition, the proposed sensor is evaluated using analytical method and FEM(Finite Elements Method) method. Finally, it turned out that it has good performance.

A Study on Foot Pressure by using an Insole Equipped with the Orthogonal Grid Sensor (직교 그리드 센서가 삽입된 인솔을 이용한 족압분포 연구)

  • Son, Jeong-Hyeop;Jun, In-Jun;Chang, Seung-Hwan
    • Composites Research
    • /
    • 제34권3호
    • /
    • pp.161-166
    • /
    • 2021
  • In this study, we present a research method to develop a shoe that prevents foot injury by inducing the foot pressure. An orthogonal grid sensor was used to check the foot pressure in the upright standing position, and the change in the foot pressure distribution for various conditions was compared. We checked the conditions for distributing foot pressure efficiently by changing the spring constant of the spring inserted into the sole of the shoe and the foot pressure generated with or without the arch of the insole. In order to minimize the experimental error from the randomness of the human body's behavior, it is possible to predict through foot pressure under certain conditions through finite element analysis that simulates the pressure distribution. By checking the change of foot pressure according to the number and arrangement of springs through finite element analysis, conditions were established to provide more efficient foot pressure. The result can be used for designing footwear for patients with diabetic feet.

Development of 6-axis force/moment sensor for a humonoid robot (인간형 로봇을 위한 6축 힘/모멘트센서 개발)

  • Kim, Gab-Soon;Shin, Hyi-Jun
    • Journal of Sensor Science and Technology
    • /
    • 제16권3호
    • /
    • pp.211-219
    • /
    • 2007
  • This paper describes the development of 6-axis force/moment sensor for a humanoid robot. In order to walk on uneven terrain safely, the robot's foot should perceive the applied forces Fx, Fy, Fz and moments Mx, My, Mz to itself, and be controlled by the foot using the forces and moments. Also, in order to grasp unknown object safely, the robot's hand should perceive the weight of the object using the mounted 6-axis force/moment sensor to its wrist, and be controlled by the hand using the forces and moments. Therefore, 6-axis force/moment sensor should be necessary for a humanoid robot's hand and foot. In this paper, 6-axis force/moment sensor for a humanoid robot was developed using many PPBs (parallel plate-beams). The structure of the sensor was newly modeled, and the sensing element of the sensor was designed using theoretical analysis. Then, 6-axis force/moment sensor was fabricated by attaching strain-gages on the sensing elements, and the characteristic test of the developed sensor was carried out. The rated outputs from theoretical analysis agree well with the results from the experiments.

Sensitivity Control and Design of the Silicone Foot Sensor Using FEM (유한요소 해석을 통한 실리콘 족적 센서의 감도 조절 및 설계)

  • Seong, Byuck Kyung;Seo, Hyung Kyu;Lee, Jin Wook;Kwon, Ae-Ran;Kim, Dong Hwan
    • Journal of the Korean Society for Precision Engineering
    • /
    • 제31권11호
    • /
    • pp.1041-1050
    • /
    • 2014
  • A design and analysis for new foot sensor that measures pressure distribution while walking or running in daily life is introduced. In the process of the sensor design, the shape, mechanism composing of the sensor, and variables that dominate sensor's sensitivity are investigated. Through these variables analysis, an optimal shape and dimension were determined. The effects of variables on sensor's sensitivity and the relationship between each variable are proved by analyses and experiments.