In this paper, the design and fabrication of the calf-link with knee joint torque sensor of a tandem-driven walking-assist robot is described. Tendon-driven walking-assist robots should be designed and constructed with a wire wheel and a torque sensor, as one body to reduce the weight of the calf link. The torque sensor consists of four plate sensing parts crossed 90° around the wire wheel. Structural analysis was performed to determine the size of the torque sensor sensing part, and a torque sensor was built by attaching a strain gauge to the sensing part. As a result of the characteristics test, the reproducibility error and the nonlinearity error of the manufactured torque sensor were less than 0.03% and 0.04%, respectively. As a result of the calibration, the reproducibility error and the nonlinearity error were less than 0.08%, respectively. Thus, it is considered that the knee joint torque sensor of the calf link can be attached to the tandem-driven walking-assist robot.
We describe the design and fabrication of a three-axis force sensor with parallel plate beams (PPBs) for measuring the force of a patient’s thigh in a wearable walking robot. The thigh link three-axis force sensor is composed of Fx force sensor, Fy force sensor, Fz force sensor and a pulley, which detect the x, y and z direction forces, respectively. The threeaxis force sensor was designed using the Finite Element Method (FEM), and manufactured using strain-gages. Experiments to evaluate the characteristics of the three-axis force sensor were carried out. The results of the characteristics experiment indicate that the repeatability error and the non-linearity of the three-axis force sensor was less than 0.04%, and the results for calibration showed that the errors of the sensor was less than 0.1%. Therefore, the fabricated thigh link three-axis force sensor can be used to measure the patient’s thigh force of the wearable walking robot.
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Development of 5-axis Force/Moment Sensor of Gripper to Recognize the Position of an Object within the Gripper Jin Kim, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2023; 40(5): 415. CrossRef
Development of a 3-Axis Force Sensor for an Intelligent Gripper that Safely Grips Unknown Objects Han-Sol Kim, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2022; 39(3): 193. CrossRef
Development of Gripping Force Sensor for a Spindle Tool of BT50 Dae-Geon Lee, Gab-Soon Kim JOURNAL OF SENSOR SCIENCE AND TECHNOLOGY.2021; 30(1): 42. CrossRef
Design of Integrated Ankle Torque Sensor and Mechanism for Wearable Walking Aid Robot Han-Sol Kim, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2020; 37(9): 667. CrossRef
Design and Manufacture of Calf-Link with Knee Joint Torque Sensor for a Tendon-Driven Walking Assistant Robot Jun-Hwan An, Gab Soon Kim Journal of the Korean Society for Precision Engineering.2019; 36(11): 1009. CrossRef
Development of Hip Joint Torque Sensor for Measuring Hip Rotation Force of Walking Assist Robot of Leg Patient Jae-Hoon Park, Gab Soon Kim Journal of the Korean Society for Precision Engineering.2018; 35(8): 753. CrossRef
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