A low cost 3-DOF force sensing unit design for wrist rehabilitation robots

Mechatronics ◽  
2021 ◽  
Vol 78 ◽  
pp. 102623
Author(s):  
Umut Mayetin ◽  
Serdar Kucuk
Author(s):  
Andrew Erwin ◽  
Fabrizio Sergi ◽  
Vinay Chawda ◽  
Marcia K. O’Malley

This paper investigates the possibility of implementing force-feedback controllers using measurement of interaction force obtained through force-sensing resistors (FSRs), to improve performance of human interacting robots. A custom sensorized handle was developed, with the capability of simultaneously measuring grip force and interaction force during robot-aided rehabilitation therapy. Experiments are performed in order to assess the suitability of FSRs to implement force-feedback interaction controllers. In the force-feedback control condition, the applied force for constant speed motion of a linear 1DOF haptic interface is reduced 6.1 times compared to the uncontrolled condition, thus demonstrating the possibility of improving transparency through force-feedback via FSRs.


2020 ◽  
Vol 3 (3) ◽  
pp. 33
Author(s):  
Dwi Basuki Wibowo ◽  
Agus Suprihanto ◽  
Wahyu Caesarendra ◽  
Slamet Khoeron ◽  
Adam Glowacz ◽  
...  

Generally, there are two types of working style, i.e., some people work in sitting conditions, and the remaining work mostly in a standing position. For people working in a standing position, they can spend hours in a day doing their work standing. These people do not realize that it can cause medical issues, especially for the feet, namely biometric problems. In addition, several doctors in Indonesia are already aware of this issue and state that the biometric problems faced by those kinds of people can be predicted from the load distribution on the foot. However, the tool used by the doctors in Indonesia to measure biometric problems is not a digital tool. Therefore it is very difficult to measure and predict the biometric problems quantitatively. This study aims to develop a low-cost static load measuring device using force-sensing resistor (FSR) sensors. The measuring instrument is designed in the form of a pressure plate platform which consist of 30 FSR 402 sensors. The sensors are placed right underneath the display area of the foot, 15 sensors on the soles of the left and right feet. Ten students from the Department of Mechanical Engineering, Diponegoro University (five men and five women) were asked to stand on the platform. Each subject also measured foot length (FL) to estimate shoe size, foot area contact (FAC) for validation between genders, and foot type using the digital footprint tools. From the results of measurements obtained for the left foot in the medial mid foot area, i.e., in sensors 5 and 7, not exposed to the load, on almost all subjects except subject number 3 with a load of 0.196 kg on sensor 7. The highest average load occurs in the heel area i.e., sensor 1 measured 0.713 kg and the smallest average load occurs in the five sensors, with 0 kg. A static load gauge that is designed to be used to measure each leg area for subjects with a shoe size of 40–42 with low price to be held in hospital-orthopedic hospitals and biomechanical research centers.


2012 ◽  
Vol 61 (5) ◽  
pp. 745-751 ◽  
Author(s):  
Libo Huang ◽  
Sheng Ma ◽  
Li Shen ◽  
Zhiying Wang ◽  
Nong Xiao
Keyword(s):  
Low Cost ◽  

Sign in / Sign up

Export Citation Format

Share Document