• 센서학회지
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• 제27권2호
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• pp.105-111
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• 2018

In this paper, a torque sensor is designed and fabricated to measure the knee joint torque of a walking assist robot for stroke patients. The torque sensor sensing part was modeled on the link of the part connected to the knee joint motor. The torque capacity of the knee joint was calculated by simulation and the size of the torque sensor sensing part was designed using the finite element method. The torque sensor was fabricated by attaching a strain gauge to the sensing part. Characteristic experiments were conducted to characterize the torque sensor, and the torque sensor was calibrated to utilize it for the control of the walking assist robot. As a result of the characteristics test, the reproducibility error and the nonlinearity error of the torque sensor were 0.03% and 0.04%, respectively. Therefore, it is considered that the developed torque sensor can be used to measure the torque applied to the knee joint when walking on a walking assist robot.

• 전자공학회논문지
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• 제54권6호
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• pp.134-139
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• 2017

본 논문에서는 전기자전거의 정밀 토크제어를 위하여 새로운 토크제어 방식을 제안하고 구현한다. 트로틀 노이즈를 제거하기 위한 이동 평균 필터를 채택함으로써 256 단계의 세분화된 트로틀 단계로 전기자전거의 제어가 가능하다. 설계된 컨트롤러는 전기자전거에 장착 실험되어 기존의 Cadence 감지 컨트롤러 대비 개선된 선형 제어특성을 확인하였다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2013년도 춘계학술대회 논문집
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• pp.859-860
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• 2013

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.1087-1090
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• 2007

A wireless magnetic torque sensor is utilized to measure the torque generated in the rotating shaft in magnetic field without connecting to the shaft by any wire. In this study, a new wireless magnetic torque sensor was introduced. The structure of the sensor was explained detailed as well as its operation principle. Resulting from the torque measurement experiment results, the sensor was proven to measure the generated torque effectively. Compared with traditional contact torque sensor, the wireless one has low cost and good environment adaptation ability. Moreover, the intractable wrapping wires around the shaft are removed in this design. Hence the wireless torque sensor may be expected as a possible sensing device for many applications, such as the electric assisting rotation system in automobiles, the torque sensing system in motors, the arm rotation system in robotics and so on.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.606-608
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• 1989

Force/torque sensors are now providing widespread practical solutions to manufacturing problems, particularly in the area of automated assembly. The current state of the industry is discussed, including the evolution of transducer and controller design, and the trend of robot manufacturers to integrate force/torque sensors into their robot systems thereby greatly improving cycle time and simplifying the application development task for the end-user. Current and future application areas are discussed as well as the benefits of force/torque sensing.

• 제어로봇시스템학회논문지
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• 제7권2호
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• pp.146-151
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• 2001

The importance of sensing the force and torque with arbitrary direction and magnitude is becoming more crucial for robotic applications and manufacturing automations. Recently, several designs of a multi-axis force-torque sensor have been tried to sense this force and torque. This paper deals mainly with the signal processing of a six-axis force-torque sensor using cross-shaped elastic structures with circular holes. In this paper, we show principle of sensing force and torque, the signal processing methodology, and efficient methods of seeking strain gage positions in the sensor structure. The validity of the proposed method is shown via experiments.

• 전력전자학회논문지
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• 제3권4호
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• pp.280-286
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• 1998

본 논문에서는 벡터제어방식의 인버터에 의하여 구동되는 교류전동기 제어 시스템에서 전류특정회로에서의 측정오차에 기인하는 전동기의 토크리플을 저감하는 방법을 제안한다. 2상의 전류를 측정하는 회로에서의 오프셋 전압과 전압증폭률이 서로 다를 때 전동기 출력토크에 발생되는 리플을 각각 정량적으로 분석하고, 이로부터 온라인 상태에서 실시간으로 토크리플을 제거할 수 있는 알고리즘을 제시하였다. 제안된 방식의 유용성을 확인하기 위하여 이를 영구자석형 동기전동기에 적용하였을 경우에 대하여 출력토크의 리플을 계산하고 이를 제거하는 알고리즘을 컴퓨터로 시뮬레이션하였다.

• Journal of Electrical Engineering and Technology
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• 제9권3호
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• pp.866-872
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• 2014

The purpose of this paper was to find an effective method for measuring electromagnetic torque produced by a brushless DC motor with single-phase current sensing in real-time. A torque equation is derived from the theory of brushless DC motor. This equation is then validated experimentally with a motor dynamometer. A computer algorithm is also proposed to implement the electromagnetic torque estimation equation in real-time. Electromagnetic torque is a linear function of phase current. Estimating the electromagnetic torque in real-time using single-phase current is not appropriate with existing equations, however, because of the rectangular alternating-pulse nature of the excitation current. With some mathematical manipulation to the existing equations, the equation derived in this paper overcame this limitation. The equation developed is simple and so it is computationally efficient, and it takes only motor torque constant and single-phase current to evaluate the electromagnetic torque; no other parameters such as winding resistances, inductances are needed. The equation derived is limited to the three-phase brushless DC motor. It can, however, easily be extended to the multiphase brushless DC motor with the technique described in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2058-2062
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• 2005

This article describes the useful way to measure the torque and RPM of the geared motor. For this, we have made the planetary geared reduction motor including the torque sensor unit which consists of hall effects sensor and permanent magnet. Our monitoring system displays the sensing values (torque, rpm) and the calculated value (power) and it also has the network capability using the Bluetooth protocol. We will show that our solution is much more inexpensive and simple method to measure torque and rpm than before.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2004년도 추계학술대회
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• pp.835-839
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• 2004

For factory automation using force/torque control, we need a networked-force management system as well as good force sensing and force generation. In this paper, we present a web-based force management system including 6-axis force/torque sensing system. Performance of the force-torque sensor is affected significantly by analog noise that is included in a sensor signal, and the noise should be reduced appropriately to obtain an adequate performance of the sensor. Moreover, the sensor itself should be convenient to install to a real application system. It should be compact in size and also easy to wire in real situation. In this viewpoint, we developed usb-based compact sensor system which is well communicated using web between two computers that exist far away. Software is programmed using LabVIEW and CCS-C. PIC microcontrollers are used for implementing a compact hardware. The proposed system is verified through experimental works.