Journal of the Korean Society for Precision Engineering (한국정밀공학회지)

Korean Society for Precision Engineering (한국정밀공학회)
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Design of Three-Axis Force/Torque Sensor for Rehabilitation Robot

재활로봇용 3축 힘/토크센서 설계

  • Jung, Jae-Hyun (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University) ;
  • Kim, Gab Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National University)
  • 정재현 (경상대학교 제어계측공학과) ;
  • 김갑순 (경상대학교 제어계측공학과)
  • Received : 2015.09.30
  • Accepted : 2016.01.20
  • Published : 2016.04.01
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Abstract

In this study, we described the design of a three-axis force/torque sensor for measuring the force and torque in a lower-limb rehabilitation robot. The three-axis force/torque sensor is composed of Fx force sensor, Fz force sensor and Tz torque sensor. The sensing element for Fx force sensor and Tz torque sensor is used in a two-step parallel plate beam, and that of Fz force sensor is used in a parallel plate beam. The rated loads of Fx force sensor, Tz torque sensor and Fz force sensor are 300 N, 15 N m and 100 N, respectively. The three-axis force/torque sensor was designed using the finite element method, and manufactured using strain-gauges. The three-axis force sensor was further characterized. As a result, the interference error of the three-axis force/torque sensor was < 1.24%, the repeatability error of each sensor was < 0.03%, and the non-linearity was < 0.02%.

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References

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