development of a wearable 6-d force sensor for human dynamics analysis tao liu department of...

Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis

Tao LIU Department of Intelligent Mechanical Systems

EngineeringKochi University of Technology, Japan

9, Nov, 2004

Outline of the Presentation

Research Background Development of A Sensor Prototype Experiments In the Future

Human segments dynamic analysis model

Wearable inertial sensor (Gyro and Accelerometer)

Wearable six-dimension force sensor

M1 ankle joint

M2 knee joint

M3 hip joint

Joint j

Joint k

Mass 2

kxa

kya

jia

Link 2

ja222L

21L

kyya

kxxa

kja

Joint j

Joint k

Mass 2

kxa

kya

jia

Link ３

ja222L

21L

kyya

kxxa

kja

Joint j

Joint k

Mass 2

kxa

kya

jia

Link 2

ja222L

21L

kyya

kxxa

kja

Wearable inertial sensor (Gyro and Accelerometer)

Wearable six-dimension force sensor

M1 ankle joint

M2 knee joint

M3 hip joint

Human segments dynamic analysis model

Muscle model

Last Application about wearable sensors and actuators

Berkeley lower Extremity exoskeleton, USA 2004

University of Tuskuba, Japan 2004

Last Research and Product on Wearable Force Sensors

NITTA corporation (Insole Pressure Sensor)

University of TokyoSix-axis Sensor

Relative production of our Lab

Outline of the Presentation

Research Background Development of A Sensor Prototype Experiments In the Future

Force

Sensor with Serial Support Mechanism Sensor with Parallel Support Mechanism

Load-cell

Two kinds of structures in sensor design

Moment

Force

Moment

Hard ball

Y

XZ

X axis Load-cell

Y axis Load-cell

Z axis Load-cell

60

140

Top Plane

Bottom Plane

Theory of the sensor

Parallel support structure

FEM analysis of beams

171mm

105mm

26.5mm

FyMy

Fz

Mz

Fx

Mx

X, Y, Z Max force: 100N, 100N,1000N

Max moment: 50Nm

Outline of the Presentation

Research Background Development of A Sensor Prototype Experiments In the Future

Testing of the Sensor

Drag force

weight

Load cell

Pulley

Calibration Mechanism

least-squares method in MATLAB Function: polyfit()

Vertical axis: weight mass (kg)Horizontal axis: strain of strain gages

Calculation of Six-D Forces

Outline of the Presentation

Research Background Development of A Sensor Prototype Experiments In the Future

Sensor with single plane Sensor with double plane

Measurement of ankle joint moment in heel strike phase

Ankle joint

Heel 3D force sensor

Ground

Z

XY

ZX

Y

ZX

Y Reference coordinate

1000N 1000N

1000N

New Sensor and Interface Software