Hessinger, Markus ; Krenzer, Johannes ; Christmann, Eike ; Hielscher, Jürgen ; Kupnik, Mario ; Werthschützky, Roland (2017)
Structurally integrated joint torque sensors in an assistive upper limb exoskeleton.
18th International Conference on Sensors and Measurement Technology (SENSOR 2017). Nürnberg, Germany (30.05.2017-01.06.2017)
doi: 10.5162/sensor2017/P2.6
Konferenzveröffentlichung, Bibliographie
Dies ist die neueste Version dieses Eintrags.
Kurzbeschreibung (Abstract)
This paper describes the design process of a torque sensor, which is structurally integrated into the kinematic chain of an assistive upper limb exoskeleton to measure user interaction. Two different approaches of torque sensor integration are discussed regarding the nominal torque loads on each joint and applied transverse stresses. The final sensor concept consists of an aluminum spoke wheel deformation element with four strain gauges connected to a Wheatstone bridge. It is mounted between the motor casing and gear drive of each joint to measure the torque of the actuator and user. A sensor electronics board including signal processing and an EtherCAT interface is integrated in each joint. The torque sensor shows linear transmission characteristics for 0.4 Nm nominal rated torque with a linear error of 0.51 % and a hysteresis error of 0.53 %.
| Typ des Eintrags: | Konferenzveröffentlichung |
|---|---|
| Erschienen: | 2017 |
| Autor(en): | Hessinger, Markus ; Krenzer, Johannes ; Christmann, Eike ; Hielscher, Jürgen ; Kupnik, Mario ; Werthschützky, Roland |
| Art des Eintrags: | Bibliographie |
| Titel: | Structurally integrated joint torque sensors in an assistive upper limb exoskeleton |
| Sprache: | Englisch |
| Publikationsjahr: | 30 Mai 2017 |
| Verlag: | Association for Sensors and Measurement |
| Buchtitel: | AMA Conferences 2017 : Proceedings : SENSOR 2017, IRS² 2017 |
| Veranstaltungstitel: | 18th International Conference on Sensors and Measurement Technology (SENSOR 2017) |
| Veranstaltungsort: | Nürnberg, Germany |
| Veranstaltungsdatum: | 30.05.2017-01.06.2017 |
| DOI: | 10.5162/sensor2017/P2.6 |
| Zugehörige Links: | |
| Kurzbeschreibung (Abstract): | This paper describes the design process of a torque sensor, which is structurally integrated into the kinematic chain of an assistive upper limb exoskeleton to measure user interaction. Two different approaches of torque sensor integration are discussed regarding the nominal torque loads on each joint and applied transverse stresses. The final sensor concept consists of an aluminum spoke wheel deformation element with four strain gauges connected to a Wheatstone bridge. It is mounted between the motor casing and gear drive of each joint to measure the torque of the actuator and user. A sensor electronics board including signal processing and an EtherCAT interface is integrated in each joint. The torque sensor shows linear transmission characteristics for 0.4 Nm nominal rated torque with a linear error of 0.51 % and a hysteresis error of 0.53 %. |
| Freie Schlagworte: | torque sensor, structurally integrated, assistive exoskeleton, user interaction, sensor electronics |
| Zusätzliche Informationen: | Erstveröffentlichung; Chapter P2 - Mechanical Sensors |
| Fachbereich(e)/-gebiet(e): | 18 Fachbereich Elektrotechnik und Informationstechnik 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Elektromechanische Konstruktionen (aufgelöst 18.12.2018) 18 Fachbereich Elektrotechnik und Informationstechnik > Mess- und Sensortechnik |
| Hinterlegungsdatum: | 21 Jun 2017 08:26 |
| Letzte Änderung: | 14 Okt 2024 11:55 |
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Structurally integrated joint torque sensors in an assistive upper limb exoskeleton. (deposited 30 Sep 2024 13:43)
- Structurally integrated joint torque sensors in an assistive upper limb exoskeleton. (deposited 21 Jun 2017 08:26) [Gegenwärtig angezeigt]
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