센서학회지 (Journal of Sensor Science and Technology)

  • 제23권2호
  • /
  • Pages.127-133
  • /
  • 2014
  • /
  • 1225-5475(pISSN)
  • /
  • 2093-7563(eISSN)
한국센서학회 (The Korean Sensors Society)
권호 표지
DOI QR코드

DOI QR Code

지능형 로봇손을 위한 손가락 힘센서 개발

Development of Force Sensors for the Fingers of an Intelligent Robot's Hand

  • 김갑순 (경상대학교 제어계측공학과)
  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
  • 투고 : 2014.02.03
  • 심사 : 2014.03.13
  • 발행 : 2014.03.31
PDF 다운로드
⟨ 이전 논문 다음 논문 ⟩

초록

This paper describes a design and manufacture of a two-axis force sensor and a single-axis force sensor for the fingers of an intelligent robot's hand. The robot's finger is composed of a two-axis force sensor, a first knuckle, a single-axis force sensor, a second knuckle, a spring, a motor of first knuckle, a motor of second knuckle, and so on. The two-axis force sensor attached to the first knuckle and the single-axis force sensor attached to the second knuckle were designed and manufactured, and the characteristics test of two sensors was carried out. As a test results, the interference error of the two-axis force sensor was less than 0.68%, the repeatability error of each sensor was less than 0.02%, and then the non-linearity was less than 0.03%. It is thought that the sensors can be used for the fingers of the intelligent robot's hand for rehabilitation exercise of finger patients.

키워드

참고문헌

  1. P. R. Culmer, A. E. Jackson, S. Makower, R. Richardson, J. A. Cozens, M. C. Levesley, and B. B. Bhakta, "A control strategy for upper limb robotic rehabilitation with a dual robot system", IEEE/ASME Transations on Mechatronics, vol. 15, no. 4, pp. 575-585, 2010. https://doi.org/10.1109/TMECH.2009.2030796
  2. L. Pan, A. Song, G. Xu, H. Li, H. Zeng, and B. Xu, "Safety supervisory strategy for an upper-limb rehabilitation robot based on impedance control", International Journal of Advanced Robotic Systems, vol. 10, pp. 1-12, 2013. https://doi.org/10.5772/52938
  3. S. Liu, Y. Xie, S. Jiang, and J. Meng, "Interactive control for the arm rehabilitation robot", Intelligent Systems and Applications, ISA 2009, International Workshop on, pp. 1-4, 2009.
  4. Y. Ren, H. S. Park, and L. Q. Zhang, "Developing a wholearm exoskeleton robot with hand opening and closing mechanism for upper limb stroke rehabilitation", Rehabilitation Robotics, 2009. ICORR 2009. IEEE International Conference on, pp. 761-765, 2009.
  5. L. Y. Joo, T. S. Yin, D. Xu, E. Thia, P. F. Chia, C. W. K. Kuah, and K. K. He, "A feasibility study using interactive commercial off-the-shelf computer gaming in upper limb rehabilitation in patients after stroke", Journal of Rehabilitation Medicine, vol. 42, No. 5, pp. 437-441, 2010. https://doi.org/10.2340/16501977-0528
  6. K. Nagai, Y. Ito, M. Yazaki, K. Higuchi, and S. Abe, "Development of a small six-component force/torque sensor based on the double-cross structure", Journal of the Robotics Society of Japan, vol. 22, no.3, pp. 361-369, 2004. https://doi.org/10.7210/jrsj.22.361
  7. G. S. Kim, "Design of a three-axis force sensor for wrist bending-exercise rehabilitation robot", J. Sensor Sci. & Tech., vol. 22, no. 2, pp.118-123, 2013. https://doi.org/10.5369/JSST.2013.22.2.118
  8. ATI Industrial Automation, Multi-Axis Forcre/Torque Sensor, Industrial Automation, pp. 4-45, 2005.
  9. G. S. Kim and J. W. Yoon, "Development of calibration system for multi-Axis force/moment sensor and its uncertainty Evaluation", Korean Society of Precision Engineering, vol. 24, no. 10, pp. 91-98, 2007.