Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Design of a Four-axis Force/Moment Sensor for Measuring the Applied Force to Wrist

손목에 가해지는 힘측정을 위한 4축 힘/모멘트센서 설계

  • Hong, Tae-Kyung (Department of Control & Instrumentation Engineering, Gyeongsang National University) ;
  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, Gyeongsang National University)
  • 홍태경 (경상대학교 제어계측공학과, ERI) ;
  • 김갑순 (경상대학교 제어계측공학과, ERI)
  • Received : 2013.05.28
  • Accepted : 2013.08.22
  • Published : 2013.11.01
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Abstract

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.

Keywords

References

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