Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Hand Pressing Control Using the Five-Axis Force/Moment Sensor of Finger Rehabilitation

손가락 재활로봇의 5축 힘/모멘트센서를 이용한 손 누름제어

  • Kim, Hyeon-Min (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University) ;
  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
  • 김현민 (경상대학교 제어계측공학과) ;
  • 김갑순 (경상대학교 제어계측공학과)
  • Received : 2012.01.06
  • Accepted : 2012.03.15
  • Published : 2012.05.31
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Abstract

This paper describes the control of the hand fixing system attached to the finger rehabilitation robot for the rehabilitation exercise of patient's fingers. The finger rehabilitation robot is used to exercise the finger rehabilitation, and a patient's hand is safely fixed using the hand fixing system. In this paper, the hand fixing system was controlled with PD gains to fix a palm of the hand, and the characteristic test for the hand fixing system was carried out to sense the fixed hand movement of the front and the rear, that of the left and the right, and that of the upper. It is thought that the hand fixing system could safely fix the hand, and the movement of the fixed hand could be perceived using the five-axis force/moment sensor attached to the hand fixing system.

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References

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