Design of Two-axis Force/Torque Sensor for Hip Joint Rehabilitation Robot

고관절 재활로봇의 2축 힘/토크센서 설계

  • Kim, Han-Sol (Department of Control and Instrumentation Engineering/ERI, Gyeongsang National University) ;
  • Kim, Gab-Soon (Department of Control and Instrumentation Engineering/ERI, Gyeongsang National University)
  • 김한솔 (경상대학교 제어계측공학과, ERI) ;
  • 김갑순 (경상대학교 제어계측공학과, ERI)
  • Received : 2016.04.11
  • Accepted : 2016.06.02
  • Published : 2016.07.01


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.


Supported by : 한국연구재단


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