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Design of two-axis force/torque sensor for hip joint rehabilitation robotopen access
- Authors
- Kim, H.-S.; Kim, G.-S.
- Issue Date
- 2016
- Publisher
- Institute of Control, Robotics and Systems
- Keywords
- Hip-joint rehabilitation; Interference error; Nolinearity error; Rated output; Repeatability error; Strain gage; Two-axis force/torque sensor
- Citation
- Journal of Institute of Control, Robotics and Systems, v.22, no.7, pp 524 - 529
- Pages
- 6
- Indexed
- SCOPUS
KCI
- Journal Title
- Journal of Institute of Control, Robotics and Systems
- Volume
- 22
- Number
- 7
- Start Page
- 524
- End Page
- 529
- ISSN
- 1976-5622
- Abstract
- We describe the design and fabrication of a two-axis force/torque sensor with parallel-plate beams (PPBs) and single beams for measuring force and torque in hip-joint rehabilitation exercise using a lower rehabilitation robot. The two-axis force/torque sensor is composed of an Fz force sensor and a Tz torque sensor, which detect z direction force and z direction torque, respectively. The two-axis force/torque sensor was designed using the FEM (Finite Element Method) and manufactured using strain gages. The characteristics experiment of the two-axis force/torque sensor was carried out. The test results show that the interference error of the two-axis force/torque sensor was less than 0.64% and the repeatability error and the non-linearity of the two-axis force/torque sensor were less than 0.03%. It is thought that the developed two-axis force/torque sensor could be used for a lower rehabilitation robot. ? ICROS 2016.
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