• Journal of Sensor Science and Technology
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• v.24 no.2
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• pp.137-143
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• 2015

This paper describes the design of a two-axis force sensor with two step plate beams for measuring forces in an upper-limb rehabilitation robot. The two-axis force sensor is composed of a Fz force sensor and a Ty torque sensor. The Fz force sensor measures the force applied to a patient's arm pushed by a rehabilitation robot and the force of patient's arm. The Ty torque sensor measures the torque generated by a patient's arm motion in an emergency. The structure of sensor is composed of a force transmitting block, two step plate beams and two fixture blocks. The two-axis force sensor was designed using FEM (Finite Element Method), and manufactured using strain-gages. The characteristics test of the two-axis force sensor was carried out. as a test results, the interference error of the two-axis force sensor was less than 1.24%, the repeatability error of each sensor was less than 0.03%, and the non-linearity was less than 0.02%.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.850-853
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• 2006

This paper presents a primary study for a new method of enhancing measurement using impedance analysis method, which is widely used for structure health monitoring. Many of skyscrapers, bridges, tunnels, which have been built up several years, and nearly reached their operating life due to aging crack, material deterioration, and so on. therefore, the health monitoring technique has obtained considerable attention. The usage of the PZT sensor is proposed, and the coupling torque of bolt-connection overlapping beam is assumed. By using the torque wrench, it is easy to apply torque of different values to each bolt. The coupling torque is adjusted gradually from $3N{\cdot}m\;to\;0N{\cdot}m$ with the decrement of $1N{\cdot}m$. Simultaneously, the impedance peak variation is measured. The peak frequency variation can be determined through the change of bolt coupling torque.

• 한국신재생에너지학회:학술대회논문집
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• 2005.06a
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• pp.335-338
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• 2005

Starting with the development of environmentally friendly electric controlled engine, sensors have played an increasing role in automotive technology. Electric power steering (EPS) systems are more and more replacing hydraulic systems. To improve fuel economy, the power assistance is provided by an electric drive. In this paper, development of a unique torque sensor for EPS is introduced. A capacitive type torque sensor is concluded to be suitable for EPS because its output is accurate, linear and robust against the variance of temperature, and patents have not applied so much.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.169-176
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• 2020

This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

• Journal of the Korean Magnetics Society
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• v.1 no.2
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• pp.89-93
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• 1991

A new kind of a non-contact torque sensor which uses the difference of the maximum magnetic inductions as measurand was constructed. The torque sensor utilizes the tensile and compressive stress of two cores which are attached on the rotating shaft. This sensor shows that the linearity was better than 1 %, and the transient torque can be measured at the sampling rate of 10 kHz which is the same as magnetizing frequency of the core.

• Proceedings of the KIEE Conference
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• 2008.10b
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• pp.318-319
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• 2008

In this paper, a steering feel simulator is designed and implemented using a steering wheel with a rotation angle sensor, torque sensor, and an ac motor for the generation of the required torque. The controller in the simulator consists of a 16-bit micro-controller, a D/A converter and A/D converters. The main objective of the controller is to perform torque control where the reference torque is calculated from the torque map for both the vehicle velocity and the wheel sensor cutout. It is shown via the experimentation using the proposed simulator that the simulator output performance can be easily understood for the variation of vehicle parameters or controller parameters.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2000.04a
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• pp.561-566
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• 2000

A screw driver is essentially used in assembling machine parts and electronic products such as the printed circuit board with a housing. As the parts to be assembled becomes small and precise, the higher precision of the controling screw driver torque is required. However, because the operator controls the fastening torque by his experience, it must be inexact. Thus the screw driver which can exactly control the fastening torque by a bellows is designed and developed in the study. The bellows is expanded by the inner air pressure and contracted and by the spring operation. The bellows driver is composed of the entrance solenoid valve, the exit solenoid valve and the pressure sensor. The pressure sensor senses the bellows pressure. When the pressure sensor output reaches the setting value, it operates the exit solenoid valve not to deliver further torque by letting the air of the bellows out. Through a series of experiments, the performance is studied and verified.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2008.11a
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• pp.157-158
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• 2008

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.107-113
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• 2002

To monitor the torque of an induction motor using current, rotating speed has been measured and used to calculate the slip angular velocity. Additional sensor, however, can cause extra expense and trouble. In this paper, a new algorithm is proposed to monitor the torque of vector controlled induction motor without any speed measuring sensor. Only stator current is measured to estimate the magnetizing current which is used to calculate flux linkage, rotor velocity and motor torque. Graphical programming is used to implement the suggested algorithm and to monitor the torque of an induction motor in real time. To solve the fluctuation problem of estimated torque caused from instantly varying rotating speed of an induction motor, the rotating speed is reconstructed based on the measured current signals. From several experiments, the proposed method shows a good estimation of the motor torque under the normal rotational speed.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.287-292
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• 1993

We use three sensors such as a vision sensor, a proximity sensor, and a force/torque sensor fused by fuzzy logic in a peg-in-hole task. The vision and proximity sensors are usually used for gross motion control and the information is used here to position the peg around the hole. The force/torque sensor is used for fine motion control and the information is used to insert the peg into the hole precisely. Throughout the task, the information of all the three sensors is fused by a fuzzy logic controller. Some simulation results are also presented for verification.