• Journal of Sensor Science and Technology
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• v.19 no.5
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• pp.349-355
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• 2010

Stroke patients, etc. can't use their hands because of the paralysis of their fingers, and their fingers could be recovered by rehabilitating training. In order to judge the rehabilitating extent of their fingers, the patients should grasp a cylindrical object in hospital. At present, the used object in hospital is only a cylindrical object, and can't measure the force of fingers. Therefore, doctors judge the rehabilitating extent by touching and watching at their fingers. So, the four-finger force measuring system which can measure the force of their fingers should be developed. In this paper, four-finger force measuring system with four force sensors which can measure the grasping force is developed. The force sensors are designed and fabricated, and the force measuring device is designed and manufactured by using DSP(digital signal processing). Also, the grasping force test of men is performed by using the developed four-finger force measuring system. It was confirmed that the finger average force of right hand is about 214.6 N and that of left hand is about 212.8 N.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.3
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• pp.226-232
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• 2016

This paper describes the design of a smart three-axis force sensor for measuring forces Fx, Fy and Fz. The smart three-axis force sensor is composed of a three-axis force sensor, a force-measuring device, housing and a cover, where the three-axis force sensor and the force-measuring device are inside the housing and the cover. The measuring device measures forces Fx, Fy and Fz from the three-axis force sensor, and calculates the resultant force using the measured forces, and then sends the resultant force and forces to a PC or other controller using RS-485 communication. The repeatability error and the non-linearity error of the smart three-axis force sensor are less than 0.03%, and the interference error of the sensor is less than 0.87%. It is thought that the sensor can be used for measuring forces in a robot, automatic systems and so on.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.6
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• pp.133-140
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• 2001

This paper suggests another system for a cutting force measuring tool in a milling process. Generally, tool dynamometer is taken into account for the most appropriate cutting force measuring tool in the analysis of cutting mechanism. However, high price and limited space make it difficult to be in-situ system for controllable milling process. Although an alternative method using AC current of servo-motor has been suggested, it is unsuitable for cutting force control because of small upper frequency limit and noise. The cutting force measuring system is composed of two load cells placed between the moving table bracket and the nut flange part of ballscrew. It has many advantages such as low cost and wide range measurement than tool dynamometer because of the built-in moving table and the low cost load cell. The static and dynamic model of the measuring system using imbeded load cell is introduced. Various Experiments are carried out to validate both models. By comparing the cutting forces from a series of end milling experiments on the tool dynamometer and the system developed in this paper, the accuracy of the cutting force measuring system is verified. Upper frequency limit is measured by the experiment of dynamic characteristics.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.2
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• pp.89-96
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• 2016

This paper describes the design of a force measurement and communication system for the force measuring system in industrial robots. The force measurement and communication system is composed of a multi-axis force sensor and a controller for measuring the forces (x-direction force, y-direction force and z-direction force) and sending the measured forces to the robot's controller (PLC: Programmable Logic Controller). In this paper, the force measurement and communication system was designed and fabricated by using a DSP (Digital Signal Processor). An environment test and a grinding and deburring test using an industrial robot with the force measurement and communication system with three-axis force sensor were carried out to characterize the system. The tests showed that the system could safely measure the forces from the three-axis force sensor and send the measured forces to the industrial robot's controller while the grinding and deburring test was performed. Thus, it is thought that the fabricated force measurement and communication system could be used for controlling the force for an industrial robot's grinding and deburring.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.86-94
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• 1993

In heavy industries forces which are exceeding the range of available force standard machines have to be measured. Force measuring system using build-up procedure can be applied to measure large forces efficiently. In this study strain gage type force sensors are designed and fabricated, and the build-up force measuring system with 4.5 MN capacity using the developed force sensors is 0.03% or less over the range of 600 kN .approx. 1.5 MN and the force measuring system is less than 0.06% or less over the range of 500 kN .approx. 4.5 MN.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.411-415
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• 2002

In this paper, a mechanical probe for CMM (Coordinate Measuring Machine) with a three-axis force-sensing unit is proposed, which is capable of measuring an actual contact position without the lobbing effect and the pre-travel error. The force-sensing unit detects the external force, which is act on the stylus of CMM during the measuring process. Thus, the contact point of the stylus of CMM can be estimated ken the direction of measured force components. Based on the structural analysis of the proposed CMM probe, the transformation matrix is derived and calibrated so that it shows linear relationships between the estimated force components from the output voltages and the real input forces. And, the relationships are verified through the computer simulation. The results show that the proposed mechanical probe is very useful fur detecting the contacting force components on measuring process of CMM.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.11
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• pp.62-69
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• 2009

This paper describes the development of the new type equilibrium sensation measuring system for human with handicap in the equilibrium sensation. The medium and small hospital could not use the developed equilibrium sensation measuring system, because it is very high prices. Therefore, the new type system should be developed to measure the numerical value of the equilibrium sensation in human with handicap. In this paper, First, two 3-axis force/moment sensors which can measure force Fz, moments Mx and My simultaneous were designed and manufactured, second, the high speed measuring device which can acquire the output from two 3-axis force/moment sensors, third, the new type equilibrium sensation measuring system was developed, then the characteristic test of the developed equilibrium sensation measuring system carried out, it is confirmed that the system could measure the swing body of human with handicap.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2010.05a
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• pp.759-760
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• 2010

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

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.05a
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• pp.595-598
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• 2000

This paper presents new cutting force measuring system for milling process. Usually, tool dynamometer is the most appropriate measuring tool in an analysis of cutting mechanism. High price and limited space, however, make it difficult to be in-situ system for controllable milling process. Although an alternative using AC current of servomotor has been suggested, it is unsuitable for cutting force control because of low bandwidth and noise. We suggest new cutting force measuring system, using two load cell placed between moving table and nut of ballscrew, and modelled on the system statically and dynamically. And to verify the accuracy of the proposed system, a series of carefully conducted experiments were carried out. Experiment results show that models are in reasonably good agreement with the experiment data.