• Journal of Industrial Technology
• /
• v.21 no.A
• /
• pp.89-96
• /
• 2001

A low cost force./moment sensor that can be used in the robot teaching task is presented. Force Sensing Resistor is used as the transducer. The principle of force/moment detection is explained, the architecture of the sensor is shown, and the measurement of the force/moment is presented. The force/moment sensor shown in this work is not meant to be used in a precise force/moment control, but it is intended to be used in the robot teaching where low accuracy can be tolerated.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.63 no.12
• /
• pp.1722-1725
• /
• 2014

An experimental investigation of COP(center of pressure) was performed using FSR(force sensing resistor) and force plate. The FSR sensor system is used as effective device to detect the movement of human body in activities of daily living. It has been shown that the FSR provides the trajectories of COP with repeatability and reliability.

• Journal of Veterinary Clinics
• /
• v.35 no.5
• /
• pp.206-210
• /
• 2018

The purpose of this study was to evaluate the reliability and validity of the Force-Sensing Resistor (FSR) for measurement of static hindlimb weight distribution in beagle dogs and to compare these results to a Digital Weighing Scale (DWS). Nine healthy beagle dogs were recruited for this study. Static weight distribution was evaluated four times at intervals of 5 days with each device and two observers to calculate the intra- and interobserver reliability. The intraclass correlation coefficient (ICC) values of the FSR for intraobserver reliability were moderate to good (0.74). The results for the DWS showed poor to moderate (0.56) ICC values for intraobserver reliability. The ICC values for interobserver reliability were 0.53 and 0.61 for FSR and DWS, respectively, indicating poor to moderate agreement. Our findings suggest that the Force-Sensing Resistor can be used to measure static weight distribution in veterinary medicine. However, caution should be taken when comparing measured values of static weight distribution obtained utilizing both the FSR and DWS due to their low positive correlation (R = 0.41, p < 0.01).

• Journal of the Korean Society of Laryngology, Phoniatrics and Logopedics
• /
• v.9 no.1
• /
• pp.11-16
• /
• 1998

Background and Objectives : Electrolarynx has been used as one of the methods of rehabilitation for the laryngectomees. Previous electrolarynx could not alter frequency and intensity simultaneously. This institute developed an electrolarynx named "Evada" using FSR(force sensing resistor) sensor, which can control the frequency(and/or intensity) simultaneously. This study was performed for the normal control and laryngectomees with three types of electrolarynx (Evada, Servox-inton, Nu-vois) to reveal functional characteristics of Evada Materials and Methods : five laryngectomees and five normal adults were made to express there sentences(discriptive sentence, "You stay here" ; question sentence, "You stay here？" ; exclamation sentence, "You!! stay here!"), using three types of electrolarynx. Frequency change and intensity change from first and last vowel was calculated in three sentences and analyzed statistically by paired T-test. Results : The frequency change in the question sentence and exclamation sentence was more prominent in Evada than in Servox-inton and Nu-vois. The intensity change in the question sentence and exclamation sentence was also more prominent in Evada than in Servox-inton and Nu-vois. Conclusions : Evada could control frequency and intensity simultaneously and control degree of frequency(and/or intensity) according to the pressing force into the button. Evada could adjust continuously frequency and intensity during conversation. So, Evada is better in producing intonation and contrastive stress than Nu-vois and Servox-inton.

• Journal of the Korean Institute of Telematics and Electronics T
• /
• v.36T no.1
• /
• pp.64-70
• /
• 1999

When manipulator moves the objects, the object position error can be occurred because of acceleration or negative acceleration according to the direction. So we make manipulator working path for establishing optimal gripper force control preventing occurrence of object position error. And we attached the tactile sensor on the gripper of manipulator which gives us very specific information between manipulator and object. Reasoning of continuous tactile image data, manipulator can sense rotation and slippage and change the grasping force that corrects calculated grasping force and compensation can be possible of the object position error. We use the FSR(Force Sensing Resistor)sensor which consists of 22 by 22 taxels and continuous taxel number is used for filtering and using the moment method for sensing algorithm in our experiment.

• Proceedings of the Korean Society of Computer Information Conference
• /
• 2013.01a
• /
• pp.281-282
• /
• 2013

맥박을 측정하는 방법 중 하나인 PPG(photoplethysmography) 센서는 설계가 비교적 간편하며 사용이 편한 장점이 있지만, 움직임으로 인한 동잡음에 취약하다는 단점이 있다. 본 논문에서는 동잡음으로 인한 센서와 손가락 사이의 밀착되는 압력의 변화를 측정하여 왜곡된 신호를 보상하였다. PPG센서와 손가락 사이의 압력을 측정하기 위하여 FSR(force sensing resistor)센서를 이용하여 측정하였으며, 측정된 압력과 왜곡된 PPG 신호 비교를 통해 왜곡된 PPG신호와 FSR센서에서 얻은 압력 사이의 연관성을 확인하였고, 신호처리를 통하여 왜곡된 신호를 보상 시켰다. 이와 같은 방법으로 PPG신호를 보상하게 된다면 웨어러블한 환경에서의 적용뿐만 아니라 헬스케어로 응용이 가능할 것으로 보인다.

• International Journal of Control, Automation, and Systems
• /
• v.6 no.4
• /
• pp.551-558
• /
• 2008

This paper deals with the real-time stable walking for a humanoid robot, ISHURO-II, on uneven terrain. A humanoid robot necessitates achieving posture stabilization since it has basic problems such as structural instability. In this paper, a stabilization algorithm is proposed using the ground reaction forces, which are measured using FSR (Force Sensing Resistor) sensors during walking, and the ground conditions are estimated from these data. From this information the robot selects the proper motion pattern and overcomes ground irregularities effectively. In order to generate the proper reaction under the various ground situations, a fuzzy algorithm is applied in finding the proper angle of the joint. The performance of the proposed algorithm is verified by simulation and walking experiments on a 24-DOFs humanoid robot, ISHURO-II.

• Journal of the Korean Geotechnical Society
• /
• v.40 no.2
• /
• pp.115-123
• /
• 2024

Stress is an invisible physical quantity, necessitating the use of earth pressure cells for its measurement within theground. Traditional strain-gauge type earth pressure cells, due to their rigidity, can distribute stress within the ground and subsequently affect the accuracy of earth pressure measurements. In contrast, force sensing resistors are thin and flexible, enabling the minimization of stress disturbance when measuring stress within the ground. This study developed a system that utilizes force sensing resistors to measure ground stress. It involved constructing a soil chamber for calibrating the force sensing resistors, assessing the variability of measurements from resistors embedded in sand ground, and verifying the attachment of pucks to the sensing area of the resistors.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.30 no.4 s.247
• /
• pp.364-372
• /
• 2006

In this paper, we present a finger tip tactile sensor which can detect contact normal force as well as slip. The sensor is made up of two different materials, such as polyvinylidene fluoride (PVDF) known as piezoelectric polymer, and pressure variable resistor ink. In order to detect slip on the surface of the object, two PVDF strips are arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, a tactile sensing system is developed, which includes miniaturized charge amplifier to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1808-1813
• /
• 2005

In this paper, we present the finger tip tactile sensor which can detect contact normal force as well as slip. The developed sensor is made of two different materials, such as polyvinylidene fluoride(PVDF) that is known as piezoelectric polymer and pressure variable resistor ink. In order to detect slip to surface of object, a PVDF strip is arranged along the normal direction in the robot finger tip and the thumb tip. The surface electrode of the PVDF strip is fabricated using silk-screening technique with silver paste. Also a thin flexible force sensor is fabricated in the form of a matrix using pressure variable resistor ink in order to sense the static force. The developed tactile sensor is physically flexible and it can be deformed three-dimensionally to any shape so that it can be placed on anywhere on the curved surface. In addition, we developed a tactile sensing system by miniaturizing the charge amplifier, in order to amplify the small signal from the sensor, and the fast signal processing unit. The sensor system is evaluated experimentally and its effectiveness is validated.