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Design of Force Sensors for the Ankle Rehabilitation Robot of Severe Stroke Patients

중증뇌졸중환자의 발목재활로봇을 위한 힘센서 설계

  • Kim, Han-Sol (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National Unversity) ;
  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National Unversity)
  • 김한솔 (경상대학교 제어계측공학과) ;
  • 김갑순 (경상대학교 제어계측공학과)
  • Received : 2016.02.28
  • Accepted : 2016.03.29
  • Published : 2016.03.31

Abstract

This paper describes the design and fabrication of a two-axis force/torque sensor and an one-axis force sensor with parallel plate beams(PPSs) for measuring forces and torque in an ankle rehabilitation exercise using by a lower rehabilitation robot. The two-axis force/torque sensor is composed of a Fy force sensor and Tz torque sensor and the force sensor detects x direction force. The two-axis force/torque sensor and one-axis force sensor were designed using by FEM(Finite Element Method), and manufactured using strain-gages. The characteristics experiment of the two-axis force/torque sensor and one-axis force sensor were carried out respectively. As a test results, the interference error of the two-axis force/torque sensor was less than 1.56%, the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03% respectively, and the repeatability error and the non-linearity of the one-axis force sensor were less than 0.03% and 0.02% respectively.

Acknowledgement

Supported by : 한국연구재단

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