• 제목/요약/키워드: four-axis force/moment sensor

검색결과 3건 처리시간 0.018초

손목에 가해지는 힘측정을 위한 4축 힘/모멘트센서 설계 (Design of a Four-axis Force/Moment Sensor for Measuring the Applied Force to Wrist)

  • 홍태경;김갑순
    • 제어로봇시스템학회논문지
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    • 제19권11호
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    • pp.1011-1016
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    • 2013
  • Patients have the paralysis of their wrists, and can't use of their wrists freely. But their wrists can be recovered by wrist-bending rehabilitation exercise. Professional rehabilitation therapeutists exercise the wrists of patients in hospital. But the wrists of patients have not exercised enough for the rehabilitation, because the therapeutists are much less than patients in number. Therefore, the wrist rehabilitation robot should be developed, and it have to measure the applied force to the patients' wrists for their safety. In this paper, the four-axis force/moment sensor was designed for the wrist rehabilitation robot. As a test results, the interference error of the four-axis force/moment sensor was less than 0.91%. It is thought that the sensor can be used to measure the applied force to the patients' wrists.

사람 보행시 발바닥의 힘정보를 측정하기 위한 지능형 신발시스템 개발 (Development of lntelligent Shoe System to Measure Applied Force/Moment on the Sole of a Foot during Human Walking)

  • 김갑순;김현민;허덕찬
    • 한국정밀공학회지
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    • 제25권7호
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    • pp.79-86
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    • 2008
  • This paper describes the development of wearing intelligent shoe system to measure applied forces and moments (ground reaction forces and moments) on the soles of feet during human walking. In order to walk safely, robot must get the intelligent feet with 6-axis force/moment sensors (Fx sensor (x-direction force sensor), Fy sensor, Fz sensor, Mx sensor (Mx : x-direction moment sensor), My sensor, and Mz sensor) and detect the forces and moments data from the sensors. And the feet must be controlled with the data and controllers. While a human is walking, the forces and moments should be measured and analyzed for robot's intelligent feet. Therefore, the wearing intelligent shoe system should be developed. In this paper, four 6-axis farce/moment sensors and two high speed measuring devices were designed and fabricated, and the wearing intelligent shoe system was made using these. The characteristic tests of the wearing intelligent shoe system were performed, and the forces and moments were detected using it.

c-CMG Cluster for Small Satellites

  • Lee, Seung-Mok;Seo, Hyun-Ho;Rhee, Seung-Wu
    • International Journal of Aeronautical and Space Sciences
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    • 제8권1호
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    • pp.105-114
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    • 2007
  • This article presents the details of a designed control moment gyroscope (CMG) with a constant speed momentum wheel and one-axis-gimbal, and its experimental results performed at Korea Aerospace Research Institute. The CMG which is able to produce a torque of lOO mNm per each, is mounted in a pyramid configuration with four SGCMGs. Each CMG test and a single axis maneuver test with four-CMG cluster configuration are performed to confirm their performance on a ground-test facilities consisted of three major parts: a vibration isolation system, a dynamic force plate (Kistler sensor), and a DSP board. These facilities provide the accurate data of three axial and torques from the control moment gyro. Details of the CMG experimental results are presented with discussion of the experimental errors. The experimental data are compared with theoretical results and both results are used to verify their performance specifications.