In this study, we designed and manufactured a 3-axis force sensor for an intelligent gripper that safely grips an unknown object. The 3-axis force sensor consists of an Fx force sensor, an Fy force sensor, and an Fz force sensor in one body, and is manufactured by attaching a strain gauge. The characteristics evaluation showed that the rated output error was within 0.2, the nonlinearity error was within 0.05, and the reproducibility error was within 0.06%. Therefore, the 3-axis force sensor designed and manufactured in this study can be used to measure weight and control the force used to grip an unknown object by attaching it to the intelligent gripper.

In this paper, an integrated ankle torque sensor and mechanism (Foot Link) of a Tendon driven-type wearing walking aid robot were designed. The foot link consists of an ankle torque sensor and a mechanism connected to the footrest. The size of the sensing part of the ankle torque sensor was designed through structural analysis and assembled by attaching a strain gauge. As a result, the reproducibility error and the nonlinearity error were within 0.04%, respectively. And the calibration result of the ankle torque sensor, reproducibility error, and non-linearity error were identified to be within 1%, respectively. Therefore, it is proposed that the ankle torque sensor presented in this paper can be used to measure the torque acting on the tendon-driven walking aid robot.