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Design of force sensors of rehabilitation robot for knee rehabilitation
- Authors
- Jung, J.-H.; Kim, G.-S.
- Issue Date
- 2017
- Publisher
- Institute of Control, Robotics and Systems
- Keywords
- Interference error; No-linearity error; One-axis force sensor; Parallel plate beam; Rated output; Two-axis force sensor
- Citation
- Journal of Institute of Control, Robotics and Systems, v.23, no.1, pp 46 - 52
- Pages
- 7
- Indexed
- SCOPUS
KCI
- Journal Title
- Journal of Institute of Control, Robotics and Systems
- Volume
- 23
- Number
- 1
- Start Page
- 46
- End Page
- 52
- ISSN
- 1976-5622
- Abstract
- This paper describes the design and fabrication of a one-axis force sensor and two-axis force sensors with parallel plate beams (PPBs) for measuring forces in a knee rehabilitation exercise using a lower rehabilitation robot. The two-axis force sensors are composed of a Fx force sensor and a Fz force sensor, and they detect the x and z directional forces, respectively. The two-axis force sensors and one-axis force sensor were designed using the Finite Element Method (FEM), and manufactured using strain-gages. The characteristics experiment of the two-axis force sensors and one-axis force sensor were performed. The test results indicated that the interference error of the two-axis force sensor was less than 1.17%, the repeatability error and the non-linearity of the one-axis force sensor were less than 0.03%, and the repeatability error and the non-linearity of the two-axis force sensors were less than 0.03%. ? ICROS 2017.
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