摘要
为使创伤手指康复外骨骼手能够反馈手指的力觉信息,根据应力测量原理设计了外骨骼手基关节二维力传感器。应用ANSYS软件对传感器弹性体进行了有限元分析,针对手指弯曲和内收/外展两个方向研究了传感器的应变原理,设计了传感器信号采集电路,并对传感器进行了静态标定。传感器在手指弯曲方向具有0.325 V/N的灵敏度和1.4%的线性度,在手指内收/外展方向具有0.346 V/N的灵敏度和2.9%的线性度。实验结果表明传感器能够满足康复外骨骼手系统的要求。
In order to add capability of force feedback to the hand exoskeleton for rehabilitation of injured fingers, a two DOF hand exoskeleton base joint force sensor was designed according to the theory of stress measurement. The elastomer of the sensor was analyzed by ANSYS software package. Strain principle of the sensor was studied based on finger＇s flexion and abduction/adduction motion. The signal collection circuit was illustrated and the static calibration of the force sensor was presented. During the finger＇s flexion motion,the sensitivity reached 0. 325V/N, the linearity reached 1.4%; during the finger＇ s abduction/adduction motion, the sensitivity reached 0. 346V/N, the linearity reached 2.9%. The experiment results showed that the force sensor could match the requirement of the hand exoskeleton system.
出处
《传感技术学报》
CAS
CSCD
北大核心
2009年第8期1109-1113,共5页
Chinese Journal of Sensors and Actuators
基金
国家自然科学基金资助项目(60275033)
黑龙江省科技攻关项目(2006G0845-00)
关键词
外骨骼手
力传感器
信号处理系统
静态标定
hand exoskeleton
force sensor
signal processing system
static calibration
