In this paper, we designed and fabricated a hip joint torque sensor that can measure the torque applied to the hip joint of a walking assistant robot that can be used by a leg patient. To do this, we modeled the structure of the hip joint torque sensor so that it can be connected to the thigh link and the body of the walking assist robot. We calculated the rated torque of the hip joint torque sensor using computer simulation and determined the size of the torque sensor using a finite element program. The hip joint torque sensor was made by constructing a Wheatstone bridge and attaching a strain gauge. The characteristic test of the fabricated torque sensor was performed using a calibration device, and the reproducibility error and the nonlinearity error of the torque sensor were both less than 0.04%. Therefore, it is proposed that the developed hip joint torque sensor can be attached to the thigh link of the wearable walking assist robot, and the torque sensor can accurately measure the torque applied to the hip joint.
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Development of Lower Limb Rehabilitation Robot Capable of Adjusting the Size of Leg and Waist, and Analysis of Gait Trajectory Deviation Young-Ho Jeon, Gab-Soon Kim Journal of the Korean Society for Precision Engineering.2021; 38(11): 817. CrossRef
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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