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Structurally Integrated Joint Torque Sensors in an Assistive Upper Limb Exoskeleton

Hessinger, Markus and Krenzer, Johannes and Christmann, Eike and Hielscher, Jürgen and Kupnik, Mario and 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.
[Conference or Workshop Item] , (2017)

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 %.

Item Type: Conference or Workshop Item
Erschienen: 2017
Creators: Hessinger, Markus and Krenzer, Johannes and Christmann, Eike and Hielscher, Jürgen and Kupnik, Mario and Werthschützky, Roland
Title: Structurally Integrated Joint Torque Sensors in an Assistive Upper Limb Exoskeleton
Language: English
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 %.

Divisions: 18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design
18 Department of Electrical Engineering and Information Technology > Institute for Electromechanical Design > Measurement and Sensor Technology
18 Department of Electrical Engineering and Information Technology
Event Title: 18th International Conference on Sensors and Measurement Technology
Event Location: Nürnberg, Germany
Event Dates: 30.5. – 1.6.2017
Date Deposited: 21 Jun 2017 08:26
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