Design and modeling of an exoskeleton torque sensor

• Autorzy: Herbin P.

Identyfikatory

DOI

10.17402/235

• Języki publikacji: EN

Abstrakty

EN

Controlling the upper limb with force feedback requires the continuous measurement of multiple values, so it is necessary to use a specific measuring system. The position of the joints and the torque produced by the drives are the basic feedbacks necessary for control. Measurement of the joint positions does not cause complications, while measurement of the driving torque is much more complex. This article describes the methods of implementing an exoskeleton drive system through a closed loop conduit system based on Bowden cables, and the integration of a torque sensor within the wheel of the exoskeleton. The integration of the sensor within a mechanical part of the construction of the exoskeleton is the main advantage of the developed sensor because it does not affect the dynamics of the exoskeleton. This article presents the process of designing, calibrating and validating the proposed link wheel torque sensor.

Słowa kluczowe

EN

exoskeleton; torque sensor; FEM analysis; closed loop cable conduit system; strain gauge; wearable robots

• Wydawca: Wydawnictwo Naukowe Akademii Morskiej w Szczecinie
• Czasopismo: Zeszyty Naukowe Akademii Morskiej w Szczecinie
• Rocznik: 2017
• Tom: nr 51 (123)
• Strony: 89--94
• Opis fizyczny: Bibliogr. 10 poz., rys.

Twórcy

autor

Herbin P.

• West Pomeranian University of Technology Szczecin Faculty of Mechanical Engineering and Mechatronics 19 Piastów Ave., 70-310 Szczecin, Poland

Bibliografia

• 1. Berczyński, S., Lachowicz, M. & Pajor, M. (2001) An improved method of approximating frequency characteristics in the problem of modal analysis and its applications. International Journal of Computational Methods and Experimental Measurements X, pp. 575–584.
• 2. Chybowski, L. (2008) Assessment of Marine Engines Torque Load Without Using of The Torquemeter. Journal of Polish CIMAC 3, 1, pp. 60–68.
• 3. Chybowski, L. & Gawdzińska, K. (2016a) On the Present State-of-the-Art of a Component Importance Analysis for Complex Technical Systems. In: Á. Rocha et al. (eds.), New Advances in Information Systems and Technologies, Advances in Intelligent Systems and Computing 445, pp. 691–700. Switzerland: Springer International Publishing, doi: 1007/978-3-319-31307-8_70.
• 4. Chybowski, L. & Gawdzińska, K. (2016b) On the Possibilities of Applying the AHP Method to a Multi-criteria Component Importance Analysis of Complex Technical Objects. In: Á. Rocha et al. (eds.), New Advances in Information Systems and Technologies, Advances in Intelligent Systems and Computing 445, pp. 701–710, Switzerland: Springer International Publishing, doi: 10.1007/978-3-319-31307-8_71.
• 5. Chybowski, L., Twardochleb, M. & Wiśnicki, B. (2016) Multi-criteria Decision making in Components Importance Analysis applied to a Complex Marine System. International Journal of Maritime Science & Technology “Our sea”, “Naše more” 63 (4), pp. 264–270, doi: 10.17818/ NM/2016/4.3.
• 6. Herbin, P. & Pajor, M. (2017) Interactive 7-DOF Motion Controller of The Operator Arm (ExoArm 7-DOF). In: INnovations in Intelligent SysTems and Applications (INISTA), International Symposium (pp. 185–188). IEEE. doi: 10.1109/INISTA.2017.8001154
• 7. Herbin, P., Pajor, M. & Stateczny, K. (2016) Six-axis control joystick based on tensometric beam. Advances in Manufacturing Science and Technology 40, 4, pp 33–41.
• 8. Huo, W., Mohammed, S., Moreno, J.C. & Amirat, Y. (2016) Lower limb wearable robots for assistance and rehabilitation: A state of the art. IEEE Systems Journal 10, 3, pp. 1068–1081.
• 9. Pajor, M. & Herbin, P. (2015) Egzoszkielet kończyny górnej-model z wykorzystaniem rzeczywistych parametrów ruchu. Modelling in Engineering, Modelowanie Inżynierskie 26, 57, pp. 40–46.
• 10. Yuan, C., Yan, R.J., Wu, J., Kim, S.H., Shin, K.S. & Han, C.S. (2014) Design and evaluation of a three-axis force/ torque sensor for humanoid robot balance control. In: Control, Automation and Systems (ICCAS), 14th International Conference (pp. 227–232). IEEE. doi: 10.1109/ICCAS.2014.6987991

Uwagi

PL

Opracowanie rekordu w ramach umowy 509/P-DUN/2018 ze środków MNiSW przeznaczonych na działalność upowszechniającą naukę (2018).