뇌졸중환자 보행보조로봇의 무릎관절 토크측정을 위한 토크센서 개발

Abstract

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. Thetorque sensor was fabricated by attaching a strain gauge to the sensing part. Characteristic experiments were conducted to characterizethe torque sensor, and the torque sensor was calibrated to utilize it for the control of the walking assist robot. As a result of the char-acteristics 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.