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

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Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University of Technology, Japan 9, Nov, 2004

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Page 1: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

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

Page 2: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Outline of the Presentation

Research Background Development of A Sensor Prototype Experiments In the Future

Page 3: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

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

Page 4: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

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

Page 5: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Last Application about wearable sensors and actuators

Berkeley lower Extremity exoskeleton, USA 2004

University of Tuskuba, Japan 2004

Page 6: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Last Research and Product on Wearable Force Sensors

NITTA corporation (Insole Pressure Sensor)

University of TokyoSix-axis Sensor

Page 7: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Relative production of our Lab

Page 8: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Outline of the Presentation

Research Background Development of A Sensor Prototype Experiments In the Future

Page 9: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Force

Sensor with Serial Support Mechanism Sensor with Parallel Support Mechanism

Load-cell

Two kinds of structures in sensor design

Moment

Force

Moment

Page 10: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

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

Page 11: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Parallel support structure

Page 12: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

FEM analysis of beams

Page 13: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

171mm

105mm

26.5mm

FyMy

Fz

Mz

Fx

Mx

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

Max moment: 50Nm

Page 14: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Outline of the Presentation

Research Background Development of A Sensor Prototype Experiments In the Future

Page 15: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Testing of the Sensor

Page 16: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Drag force

weight

Load cell

Pulley

Calibration Mechanism

Page 17: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

least-squares method in MATLAB Function: polyfit()

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

Page 18: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Calculation of Six-D Forces

Page 19: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

Outline of the Presentation

Research Background Development of A Sensor Prototype Experiments In the Future

Page 20: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

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

Page 21: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

1000N 1000N

1000N

Page 22: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University

New Sensor and Interface Software

Page 23: Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University