• Journal of Sensor Science and Technology
• /
• v.25 no.2
• /
• pp.110-115
• /
• 2016

This paper describes the design and fabrication of a three-axis force sensor with three parallel plate structures(PPSs) for measuring force in a finger force measuring system for a spherical object catch. The three-axis force sensor is composed of a Fx force sensor, Fy force sensor and a Fz force sensor, and the elements of Fx force sensor and Fy force sensor are a parallel plate structure(PPS) respectively and Fz force sensor is two PPS. The three-axis force sensor was designed using FEM(Finite Element Method), and manufactured using strain-gages. The characteristics test of the three-axis force sensor was carried out. As a test results, the interference error of the three-axis force sensor was less than 1.32%, the repeatability error of each sensor was less than 0.04%, and the non-linearity was less than 0.04%.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.11
• /
• pp.1011-1016
• /
• 2013

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.

• Proceedings of the KIEE Conference
• /
• 2008.07a
• /
• pp.1801-1802
• /
• 2008

마리오네트는 끝단에 연결된 줄을 이용하여 사용자가 제어 할 수 있는 인형이다. 본 연구는 마리오네트 원리를 적용하여 인간의 동작을 통해 로봇을 직접 제어할 수 있는 방법을 제안한다. 이를 위해 인간 손과 로봇 손의 사이에 가상의 줄(Virtual Elastic strip)이 연결되어 있는 모델을 사용한다. 실시간으로 측정되는 인간의 동작에 따라 가상 줄의 길이가 변하게 되고 가상 힘이 발생된다. 이 가상 힘을 고려하여 로봇 팔의 정동역학(Forward dynamics) 해를 구한 후, 제어를 위한 로봇의 각 관절값을 얻게 된다. 제안한 방법을 이용하여 인간 동작을 실시간으로 가상 로봇의 동작으로 변환하고 제어하는 실험을 수행하였다.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.1029-1032
• /
• 2002

This paper describes a design of a tactile sensor, which can measure three components force and temperature due to thermal conductive. The bio-mimetic tactile sensor, alternative to human's finger, is comprised of four micro force sensors and four thermal sensors, and its size being 10mm$\times$10mm. Each micro force sensor has a square membrane, and its force range is 0.1N - 5N in the three-axis directions. On the other hand, the thermal sensor for temperature measurement has a heater and four temperature sensor elements. The thermal sensor is designed to keep the temperature. $36.5^{\circ}C$, constant, like human skin, and measure the temperature $0^{\circ}C$ to $50^{\circ}C$. The MEMS technology is applied to fabricate the sensing element of the tactile sensor.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.6
• /
• pp.663-668
• /
• 2014

This paper presents a hook-type finger force measuring system with force sensors. The system is composed of a body, two three-axis force sensors, a hook, and so on. The two three-axis force sensors system was specially designed using FEM(Finite Element Method) and fabricated using strain-gages. The sensors measure the finger forces of both normal people and handicapped people in the system, and the forces are combined. The developed hook-type finger force measuring system can measure the pulling finger force of both normal and handicapped people. The pulling force tests of men and women were performed using the developed the system. It is thought that the developed system can be used to measure the pulling force of fingers.

• Journal of the Korean Society for Precision Engineering
• /
• v.31 no.3
• /
• pp.243-251
• /
• 2014

In inference fit assembly process of the industrial robot, it basically needs the force data. One of the typical methods to get the force data is attaching torque sensors on the robot arm joint or end effector. This is effective way to reduce time delay and to improve preciseness of force control, but this method has several problems. To solve that problem, this paper suggests method which measures assembly force without torque sensor by using the sliding perturbation observer(SPO) and assembly process based on SPO to assemble successfully in inference assembly

• Proceedings of the Korea Multimedia Society Conference
• /
• 2003.05b
• /
• pp.546-549
• /
• 2003

본 논문은 사용자가 가상환경 내에서 가상 물체의 무게를 인지하기 위한 힘을 적용시키는 장치(device)에 관해 연구하였다. 이 장치는 3-DOF를 갖는 장치로 원통형 플라스틱 스틱에 4개의 스트레인 게이지를 부착시켜 사용자가 원하는 방향으로 스틱을 밀거나 당기거나 누르면 스틱의 인장 강도에 따른 변화량을 스트레인 게이지를 통하여 측정되도록 설계하였다. 이 장치의 사용성을 평가하기 위해 무게가 다른 5개의 상자를 현실세계와 가상환경에 위치시킨 후에 피실험자로 하여금 정량적, 정성적인 평가를 하였다 그 결과 본 논문을 통하여 제작한 장치를 가상환경에 응용하였을 때, 사용자로 하여금 가상 물체에 대한 힘을 인지하게 함으로써 가상환경에서 현실감과 몰입감을 효과적으로 중대시킴을 확인할 수 있었다.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.2
• /
• pp.133-138
• /
• 2016

Force control and collision detection for a robot are usually conducted using a 6-axis force/torque sensor mounted at the end-effector. However, this scheme suffers from high-cost and the inability to detect collisions at the robot body. As an alternative, joint torque sensors embedded in each joint were used, which also suffered from various errors in torque measurement. To resolve this problem, a robot joint module with an improved joint torque sensor is proposed in this study. In the proposed torque sensor, a cross-roller bearing and disk-type coupling are added to prevent the moment load from adversely affecting the measurement of the joint torque under consideration. This joint design also aims to reduce the stress induced during the assembly process of the sensor. The performance of the proposed joint torque sensor was verified through various experiments.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.41 no.5
• /
• pp.357-365
• /
• 2013

In this study, forces and moments were measured on a projectile which consisted of a missile configuration body(shell) and a head installed control fins. The shell and the head were separated each other and the shell was rotated by an electric motor. The head rotated reversely against the rotational direction of the shell. The rotational force on the head was obtained from a couple of fixed fins of which angular displacement were set to the rotational direction equally. The air velocity was 40m/s on the experiment and the Reynolds number based on the diameter of head was $1.3{\times}10^5$. The other couple of fins were used to control the position and direction of the projectile by changing the angular displacement. From this experiment, the variation of force and moment were measured on the rotating projectile, and the effective amplitude and frequency were obtained through the FFT analysis.

• Journal of Oral Medicine and Pain
• /
• v.26 no.3
• /
• pp.301-308
• /
• 2001

지금까지 여러 가지 형태의 기기를 이용하여 보고된 사람의 교합력은 그 최대치가 매우 다양하다. 본 연구에서는, 교합력을 측정하기 위하여 새로운 측정기기를 개발하였다. 본 기기를 이용하여 전치부 교합력 측정 시에는 대칭적으로 최대한 물도록 하악을 유도하여 최대 교합력을 측정하였고, 구치부는 편측으로 물도록 하악을 유도하여 최대 교합력을 측정하였다. 교합 시 치아간 수직고경은 15.1mm 였다. 측정기기 내 strain gauge를 사용하여 전기저항의 변화를 힘으로 전환하였다. 마이크로 프로세서가 수치를 계산하면 액정화면에 수치가 표시된다. 실험실 내 기기교정 검사에서는 50kg과 100kg의 부하를 가하였다. 개발된 교합력 측정기기의 임상적 신뢰도를 시험하기 위해 건강한 치과대학 재학생 10명을 대상으로 최대 교합력을 측정 하였다. 이 새로운 측정기기로 측정된 교합력은 이전연구에서 기록되었던 것보다 더 높은 수치가 나왔다. 또한 제1대구치와 전치부에서 최대 교합력을 측정한 경우 실험자 내와 실험자 간에 통계적으로 유의한 신뢰성을 얻을 수 있었다. 본 기기는 안정적이고 조작성이 쉽다고 판명되었다. 그러므로, 본 기기는 더 큰 연구 집단의 선별검사에 매우 유용하게 사용할 수 있을 것이며, 또한 치주질환이 있는 치아나 임플란트, 악관절 장애를 가진 환자의 교합력 측정과 같이 특정된 경우의 교합력 측정에도 유용할 것이다.