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3축 힘 센서가 적용된 손목 굽힘 재활로봇 개발Development of a wrist bending rehabilitation robot with a three-axis force sensor
- Other Titles
- Development of a wrist bending rehabilitation robot with a three-axis force sensor
- Authors
- 김갑순
- Issue Date
- Jan-2016
- Publisher
- 한국센서학회
- Keywords
- Three-axis force sensor; Interference error; Rated output; Wrist bending rehabilitation robot; Wrist bending flexibility rehabilitation exercise; Wrist bending force
- Citation
- 센서학회지, v.25, no.1, pp 27 - 34
- Pages
- 8
- Indexed
- KCI
- Journal Title
- 센서학회지
- Volume
- 25
- Number
- 1
- Start Page
- 27
- End Page
- 34
- ISSN
- 1225-5475
2093-7563
- Abstract
- This paper describes the development of a rehabilitation robot that can provide wrist bending exercise to a severe stroke patient staying in a bed ward or at home. The developed rehabilitation robot has a three-axis force sensor which detects three directional force Fx, Fy, and Fz. The sensor measures a bending force (Fz) exerted on the wrist and the signal force (Fx and Fy) which can be used for the safety purpose. The robot was designed for severe stroke patients in bed, and the robot program was developed to perform a wrist bending rehabilitation exercise. In our tests including a nine-day experimental exercise, the developed force sensor-based robot operated effectively and safely.
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