손목에 가해지는 힘측정을 위한 4축 힘/모멘트센서 설계

다국어 초록 (Multilingual Abstract)

Patients have the paralysis of their wrists, and can’t use of their wrists freely. But their wrists can be recovered by wristbending rehabilitation exercise. Professional rehabilitation therapeutists exercise the wrists of patients in hospital. But the wrists of patients have not exercised enough for the rehabilitation, because the therapeutists are much less than patients in number. Therefore, the wrist rehabilitation robot should be developed, and it have to measure the applied force to the patients’ wrists for their safety. In this paper, the four-axis force/moment sensor was designed for the wrist rehabilitation robot. As a test results, the interference error of the four-axis force/moment sensor was less than 0.91%. It is thought that the sensor can be used to measure the applied force to the patients’ wrists.

목차 (Table of Contents)

• Abstract
• Ⅰ. 서론
• Ⅱ. 4축 힘/모멘트센서 설계 및 제작
• Ⅲ. 결론
• REFERENCES

참고문헌 (Reference)

1 김갑순, "발목재활로봇을 위한 6축 힘/모멘트센서 설계" 제어·로봇·시스템학회 19 (19): 357-363, 2013

2 L. Pan, "Safety supervisory strategy for an upper-limb rehabilitation robot based on impedance control" 10 : 1-12, 2013

3 ATI Industrial Automation, "Multi-axis forcre/torque sensor" Ati Industrial Automation 4-45, 2005

4 H. C. Kim, "Kinematic data analysis for post-stroke patients following bilateral versus unilateral rehabilitation with an upper limb wearable robotic system" 21 (21): 153-164, 2013

5 G. S. Kim, "Development of the 6-axis force/moment sensor for an intelligent robot's gripper" 118 : 127-134, 2005

6 G. S. Kim, "Development of calibration system for multi-axis force/moment sensor and its uncertainty evaluation" 24 (24): 91-98, 2007

7 P. R. Culmer, "A control strategy for upper limb robotic rehabilitation with a dual robot system" 15 (15): 575-585, 2010

8 김갑순, "2축 힘/모멘트센서를 이용한 원통형 손가락 힘측정장치 개발 및 특성평가" 제어·로봇·시스템학회 17 (17): 484-489, 2011