로봇학회논문지 제14권 제1호 (통권 제51호) (p.58-64)

의수 소켓 설계를 위한 6축 인체 탄성도 측정 장치 개발

Development of 6-Axis Stiffness Measurement Device for Prosthetic Socket Design
키워드 :
Stiffness of Human Arm,Prosthetic Socket,Indenter,Soft Tissues,Limb Amputation

목차

Abstract
1. 서 론
2. 인체 탄성도 측정 장치
3. 인체 탄성도 측정 실험
  3.1 인체 탄성도
  3.2 실험 절차
4. 실험 결과
5. 결 론
References

초록

The paper proposes a stiffness measurement device composed of a measurement part including six indenters and a fixing part including four fixtures. The device is able to make simultaneously measurements of the stiffness of human arm. The six indenters make use of both position and force control schemes sequentially whenever needed. In addition, the loadcells and the digital encoders are attached to the indenters and electric motors, respectively, so that the data can be provided in real time. On the end of the indenter, two-axis potentiometer is attached in order to measure the angle difference between the applied force axis and the axis normal to the skin of human arm, and to convert the force measured on the loadcell into the actual applied force to skin. For this purpose, the mapping between the voltage output and the angle of potentiometer was obtained by fitting it for each axis. Ultimately, the measurement device was able to measure the stiffnesses of six regions of human arm.