Skip to main content
SpringerLink
Log in

A novel 3-DOF optical force sensor for wearable robotic arm

  • Published:
International Journal of Precision Engineering and Manufacturing Aims and scope Submit manuscript

Abstract

This paper presents a novel 3-DOF optical force sensor for the wearable robotic arm. Precise sensing of human motion is still a challenge. As human motion detection sensors are expected to generate the real time data, with simultaneous measurement of multiple degrees of freedom. The optical sensing is considered to be standard for monitoring the human motion. The optical sensor is consists of high speed camera with integrated DSP (Digital Signal Processor). The DSP use to detect the changes in the sequence of frames to calculate the direction and displacement of its motion in a plane. On the other hand optical sensor eliminates the requirement of being in contact with the subject. Hand is the end-effecter of the arm and can be controlled by a 3-DOF (degree of freedom) shoulder, 2-DOF elbow and 2-DOF wrist joint. In this paper we present a new technique to measure the human’s hand movement in 3 dimensions translation frame. An intelligent computational method for this sensory system to measure the applied force is also developed. The optical force sensor was calibrated and then several experiments were conducted to check the feasibility of sensory system with the wearable robotic arm.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

Abbreviations

F:

resultant force

Fx:

force at x-axis

Fy:

force at y-axis

Fz:

force at z-axis

Fi :

axial force, where i = x, y, or z-axis

m:

mass of the applied load

g:

acceleration due to gravity

k:

spring constant

x:

distance

References

  1. Zoss, A., Kazerooni, H. and Chu, A., “Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX),” Mechatronics, IEEE/ASME Transactions, Vol. 11, No. 2, pp. 128–138, 2006.

    Article  Google Scholar 

  2. Kawamoto, H. and Sankai, Y., “Power Assist System HAL-3 for Gait Disorder Person,” Computers Helping People with Special Needs, Vol. 2398, pp. 19–29, 2002.

    Google Scholar 

  3. Ishii, M., Yamamoto, K. and Hyodo, K., “Stand-Alone Wearable Power Assist Suit-Development and Availability,” Journal of Robotics and Mechatronics, Vol. 17, No. 5, pp. 575–583, 2005.

    Article  Google Scholar 

  4. Fujimori, Y., Ohmura, Y., Harada, T. and Kuniyoshi, Y., “Wearable motion capture suit with full-body tactile sensors,” International Conference on Robotics and Automation, pp. 3186–3193, 2009.

  5. Liu, T., Inoue, Y. and Shibata, K., “A Small and Low-Cost 3-D Tactile Sensor for a Wearable Force Plate,” Sensors Journal, IEEE, Vol. 9, No. 9, pp. 1103–1110, 2009.

    Article  Google Scholar 

  6. Kim, G., “Design of a six-axis wrist force/moment sensor using FEM and its fabrication for an intelligent robot,” Sensors and Actuators A: Physical, Vol. 133, No. 1, pp. 27–34, 2007.

    Article  Google Scholar 

  7. Millan, J., Renkens, F., Mouriño, J. and Gerstner, W., “Noninvasive brain-actuated control of a mobile robot by human EEG,” IEEE Transactions on Biomedical Engineering, Vol. 51, No. 6, pp. 1026–1033, 2004.

    Article  Google Scholar 

  8. Aleotti, J., Skoglund, A. and Duckett, T., “Position teaching of a robot arm by demonstration with a wearable input device,” Proc. of Intelligent Manipulation and Grasping, pp. 459–464, 2004.

  9. Culshaw, B., “Optical Systems and Sensors for Measurement and Control,” J. of Physics E: Scientific Instruments, Vol. 16, No. 10, pp. 978–986, 1983.

    Article  Google Scholar 

  10. Murakami, H., Kawagoishi, N., Kondo, E. and Kodama, A., “Optical technique to measure five-degree-of-freedom error motions for a high-speed microspindle,” Int. J. Precis. Eng. Manuf., Vol. 11, No. 6, pp. 845–850, 2010.

    Article  Google Scholar 

  11. Kajima, M. and Minoshima, K., “High-precision positioning stage using optical zooming laser interferometer for linear encoder calibration,” Int. J. Precis. Eng. Manuf., Vol. 11, No. 5, pp. 681–687, 2010.

    Article  Google Scholar 

  12. Gopura, R. and Kiguchi, K., “Mechanical Designs of Active Upper-Limb Exoskeleton Robots: State-Of-The-Art and Design Difficulties,” Proc. of International Conference on Rehabilitation Robotics, pp. 178–187, 2009.

  13. Pons, J. L., “Wearable Robots: Biomechatronic Exoskeletons,” John Wiley & Sons, pp. 47–71, 2008.

  14. Avago Technologies, “ADNS-2610 Datasheet,” http://avagotech.com/docs/AV02-1184EN

  15. Banzi, M., “Getting started with Arduino,” Make Books, pp. 29–45, 2008.

  16. Beyon, J., “LabVIEW Programming, Data Acquisition and Analysis,” Prentice Hall P0TR, pp. 130–167, 2000.

Download references

Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Hanyang University, ERICA Campus, Ansan, Korea, 425-791

    Sarmad Shams, Dong Su Kim, Youn Sung Choi & Chang Soo Han

Authors
  1. Sarmad Shams
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Dong Su Kim
    View author publications

    You can also search for this author in PubMed Google Scholar

  3. Youn Sung Choi
    View author publications

    You can also search for this author in PubMed Google Scholar

  4. Chang Soo Han
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Sarmad Shams.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Shams, S., Kim, D.S., Choi, Y.S. et al. A novel 3-DOF optical force sensor for wearable robotic arm. Int. J. Precis. Eng. Manuf. 12, 623–628 (2011). https://doi.org/10.1007/s12541-011-0080-1

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s12541-011-0080-1

Keywords

Search

Navigation