Journal of Sensor Science and Technology (센서학회지)

The Korean Sensors Society (한국센서학회)
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Development of Calf Link Force Sensors of Walking Assist Robot for Leg Patients

다리 환자를 위한 보행보조로봇의 종아리 링크 3축 힘센서 개발

  • Kim, Han-Sol (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National Unversity) ;
  • Kim, Gab-Soon (Department of Control & Instrumentation Engineering, ERI, Gyeongsang National Unversity)
  • 김한솔 (경상대학교 제어계측공학과) ;
  • 김갑순 (경상대학교 제어계측공학과)
  • Received : 2017.02.14
  • Accepted : 2017.03.24
  • Published : 2017.03.31
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Abstract

This paper describes the design and fabrication of a three-axis force sensor with parallel plate beams (PPSs) for measuring the calf force while a patient with a walking assist robot is walking. Current walking assist robots can't measure the weight of the patient's leg and the robot's leg which required for robot control. So, the three-axis force sensor in the calf link is designed and manufactured, it is composed of a Fx force sensor, a Fy force sensor and a Fz force sensor. The three-axis force sensor was designed using by FEM(Finite Element Method), and fabricated using strain-gages. The characteristics experiment of the three-axis force sensor was carried out respectively. The test results indicated that the repeatability error and the non-linearity error of three-axis force sensor was less than 0.04% respectively. Therefore, the fabricated three-axis force sensor in the calf link can be used to measure the patient's calf force in the walking assist robot.

Keywords

References

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