편마비 다리환자를 위한 보행보조로봇의 발목 2축 힘센서 설계
Design of Calf Link Force Sensor of Walking Assist Robot of Leg Patients
1
조회
0
다운로드
0
인용
0
참고문헌
키워드
초록
This paper describes the design and manufacture of a ankle two-axis force sensor of a walking assist robot for hemiplegic leg patient. The walking assist robot for the hemiplegic leg patient can safely control the robot by detecting whether the foot wearing the walkingassist robot is in contact with the obstacle or not. To do so, a two-axis force sensor should be attached to the robot's ankle. The sensoris used to measure the force of a patient's ankle lower part. The two-axis force sensor is composed of a Fx force sensor, a Fy force sensor and a pulley, and they detect the x and y direction forces, respectively. The two-axis force sensor was designed using by FEM(FiniteElement Method), and manufactured using by strain-gages. The characteristics experiment of the two-axis force sensor was carried outrespectively. The test results indicated that the interference error of the two-axis force sensor was less than 1.2%, the repeatability errorand the non-linearity of the two-axis force sensor was less than 0.04% respectively. Therefore, the fabricated two-axis force sensor can be used to measure the force of ankle lower part in the walking assist robot.
Abstract
This paper describes the design and manufacture of a ankle two-axis force sensor of a walking assist robot for hemiplegic leg patient. The walking assist robot for the hemiplegic leg patient can safely control the robot by detecting whether the foot wearing the walkingassist robot is in contact with the obstacle or not. To do so, a two-axis force sensor should be attached to the robot's ankle. The sensoris used to measure the force of a patient's ankle lower part. The two-axis force sensor is composed of a Fx force sensor, a Fy force sensor and a pulley, and they detect the x and y direction forces, respectively. The two-axis force sensor was designed using by FEM(FiniteElement Method), and manufactured using by strain-gages. The characteristics experiment of the two-axis force sensor was carried outrespectively. The test results indicated that the interference error of the two-axis force sensor was less than 1.2%, the repeatability errorand the non-linearity of the two-axis force sensor was less than 0.04% respectively. Therefore, the fabricated two-axis force sensor can be used to measure the force of ankle lower part in the walking assist robot.
참고문헌 (13)
- J. F. Zhang, "5-Link model based gait trajrctory adaption control strategies of the gait rehabilitation exoskeleton for poststroke patients", Mechatronics, 20(3), pp.368~376 (2010)
- N. Karavas, "Tele-impedance based assistive control for a compliant knee exoskeleton", Robotics and Autonomous Systems, 73, pp.78~90 (2015)
- V. Rajasekaran, "An adaptive control strategy for postural stability using a wearable robot", Robotics and Autonomous Systems, 73, pp.16~23 (2015)
- A. Pennycott, "Estimation and volitional feedback control of active work rate during robot-assisted gait", Control Engineering Pracrice, (17), pp.322~328 (2009)
- P. Malcolm, "Experimental study on the role of the ankle push off in the walk-to-run transition by means of a owered ankle-foot-exoskeleton", Gait & Posture, 322(30), pp.322~327 (2009)
- M. Wu, "A cable-driven locomotor training system for restoration of gait in human SCI", Gait & Posture, (33), pp.256~260 (2011)
- M. M. Martins, "Assistive mobility devices focusing on Smart Walkers : Classification and review", Robotics and Autonomous Systems, (60), pp.548~562 (2012)
- 정재현, "무릎재활을 위한 재활로봇용 힘센서 설계", 제어.로봇.시스템학회 논문지, 23(1), pp.46~52 (2017), 제어·로봇·시스템학회[DOI]
- 김한솔, "고관절 재활로봇의 2축 힘", 토크센서 설계, 2016, pp.22(7), 524~529[DOI]
- S. A. Liu, "A novel six-component force sensor of good measurement isotropy and sensitivities", Sensors and Actuators A, 100, pp.223~230 (2002)
- A. Song, "A novel selfdecoupled four degree-of-freedom wrist force", torque nsor, 2007, pp.40, 883~891
- torque sensor, "Multi-axis forcre", pp.2014, ATI Industrial Automation
- 김갑순, "다축 힘", 모멘트 센서 교정기의 개발 및 그의 불확도 평가, 2007, pp.24(10), 91~98[DOI]