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
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