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중증뇌졸중환자의 발목재활로봇을 위한 힘센서 설계
Design of Force Sensors for the Ankle Rehabilitation Robot of Severe Stroke Patients
김한솔 ( Han Sol Kim ) , 김갑순 ( Gab Soon Kim )
UCI I410-ECN-0102-2016-560-000683058

This paper describes the design and fabrication of a two-axis force/torque sensor and an one-axis force sensor with parallel plate beams(PPSs) for measuring forces and torque in an ankle rehabilitation exercise using by a lower rehabilitation robot. The two-axis force/torque sensor is composed of a Fy force sensor and Tz torque sensor and the force sensor detects x direction force. The two-axis force/torque sensor and one-axis force sensor were designed using by FEM(Finite Element Method), and manufactured using straingages. The characteristics experiment of the two-axis force/torque sensor and one-axis force sensor were carried out respectively. As a test results, the interference error of the two-axis force/torque sensor was less than 1.56%, the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03% respectively, and the repeatability error and the non-linearity of the one-axis force sensor were less than 0.03% and 0.02% respectively.

1. 서 론
2. 발목 힘측정을 위한 힘센서의 설계
3. 힘센서 제작 및 특성평가
4. 결 론
감사의 글
REFERENCES
[자료제공 : 네이버학술정보]
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