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Author Herbin, Paweł
Affiliation West Pomeranian University of Technology Szczecin Faculty of Mechanical Engineering and Mechatronics 19 Piastów Ave., 70-310 Szczecin, Poland
E-mail Pawel.Herbin@zut.edu.pl
ISSN printed 1733-8670
URI https://repository.am.szczecin.pl/handle/123456789/2413
Abstract Controlling the upper limb with force feedback requires the continuous measurement of multiple values, so it is necessary to use a specific measuring system. The position of the joints and the torque produced by the drives are the basic feedbacks necessary for control. Measurement of the joint positions does not cause complications, while measurement of the driving torque is much more complex. This article describes the methods of implementing an exoskeleton drive system through a closed loop conduit system based on Bowden cables, and the integration of a torque sensor within the wheel of the exoskeleton. The integration of the sensor within a mechanical part of the construction of the exoskeleton is the main advantage of the developed sensor because it does not affect the dynamics of the exoskeleton. This article presents the process of designing, calibrating and validating the proposed link wheel torque sensor.
Pages 89–94
Publisher Scientific Journals Maritime University of Szczecin, Zeszyty Naukowe Akademia Morska w Szczecinie
Keywords exoskeleton
Keywords torque sensor
Keywords FEM analysis
Keywords closed loop cable conduit system
Keywords strain gauge
Keywords wearable robots
Title Design and modeling of an exoskeleton torque sensor
Type Original scientific article
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ISSN on-line 2392-0378
Language English
Funding No data
Figures 12
Tables 0
DOI 10.17402/235
Published 2017-09-27
Accepted 2017-09-05
Recieved 2017-08-10

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