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
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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](https://reader033.vdocument.in/reader033/viewer/2022042718/56649e955503460f94b99435/html5/thumbnails/3.jpg)
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
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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
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Last Application about wearable sensors and actuators
Berkeley lower Extremity exoskeleton, USA 2004
University of Tuskuba, Japan 2004
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Last Research and Product on Wearable Force Sensors
NITTA corporation (Insole Pressure Sensor)
University of TokyoSix-axis Sensor
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Relative production of our Lab
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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](https://reader033.vdocument.in/reader033/viewer/2022042718/56649e955503460f94b99435/html5/thumbnails/9.jpg)
Force
Sensor with Serial Support Mechanism Sensor with Parallel Support Mechanism
Load-cell
Two kinds of structures in sensor design
Moment
Force
Moment
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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
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Parallel support structure
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FEM analysis of beams
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171mm
105mm
26.5mm
FyMy
Fz
Mz
Fx
Mx
X, Y, Z Max force: 100N, 100N,1000N
Max moment: 50Nm
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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](https://reader033.vdocument.in/reader033/viewer/2022042718/56649e955503460f94b99435/html5/thumbnails/15.jpg)
Testing of the Sensor
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Drag force
weight
Load cell
Pulley
Calibration Mechanism
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least-squares method in MATLAB Function: polyfit()
Vertical axis: weight mass (kg)Horizontal axis: strain of strain gages
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Calculation of Six-D Forces
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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](https://reader033.vdocument.in/reader033/viewer/2022042718/56649e955503460f94b99435/html5/thumbnails/20.jpg)
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
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1000N 1000N
1000N
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New Sensor and Interface Software
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