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Structurally Integrated Joint Torque Sensors in an Assistive Upper Limb Exoskeleton

Hessinger, Markus ; Krenzer, Johannes ; Christmann, Eike ; Hielscher, Jürgen ; Kupnik, Mario ; Werthschützky, Roland :
Structurally Integrated Joint Torque Sensors in an Assistive Upper Limb Exoskeleton.
In: 18th International Conference on Sensors and Measurement Technology, 30.5. – 1.6.2017, Nürnberg, Germany.
[Konferenz- oder Workshop-Beitrag], (2017)

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: Konferenz- oder Workshop-Beitrag (Keine Angabe)
Erschienen: 2017
Autor(en): Hessinger, Markus ; Krenzer, Johannes ; Christmann, Eike ; Hielscher, Jürgen ; Kupnik, Mario ; Werthschützky, Roland
Titel: Structurally Integrated Joint Torque Sensors in an Assistive Upper Limb Exoskeleton
Sprache: Englisch
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 %.

Fachbereich(e)/-gebiet(e): 18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Elektromechanische Konstruktionen
18 Fachbereich Elektrotechnik und Informationstechnik > Institut für Elektromechanische Konstruktionen > Mess- und Sensortechnik
18 Fachbereich Elektrotechnik und Informationstechnik
Veranstaltungstitel: 18th International Conference on Sensors and Measurement Technology
Veranstaltungsort: Nürnberg, Germany
Veranstaltungsdatum: 30.5. – 1.6.2017
Hinterlegungsdatum: 21 Jun 2017 08:26
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