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Transcript 
Development of a Wearable 6-D Force
Sensor for Human Dynamics Analysis
Tao LIU
Department of Intelligent Mechanical Systems
Engineering
Kochi University of Technology, Japan
9, Nov, 2004
Outline of the Presentation
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Research Background
Development of A Sensor Prototype
Experiments
In the Future
Human segments dynamic analysis model
Wearable six-dimension force sensor
Wearable inertial sensor
(Gyro and Accelerometer)
M3 hip joint
M2 knee joint
M1 ankle joint
Human segments dynamic analysis model
Wearable six-dimension force sensor
Wearable inertial sensor
(Gyro and Accelerometer)
Muscle model
M3 hip joint
M2 knee joint
M1 ankle joint
Last Application about wearable sensors and actuators
University of Tuskuba,
Japan 2004
Berkeley lower Extremity
exoskeleton, USA 2004
Last Research and Product on Wearable Force Sensors
NITTA corporation
(Insole Pressure Sensor)
University of Tokyo
Six-axis Sensor
Relative production of our Lab
Outline of the Presentation
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Research Background
Development of A Sensor Prototype
Experiments
In the Future
Two kinds of structures in sensor design
Moment
Moment
Force
Force
Load-cell
Sensor with Serial Support Mechanism
Sensor with Parallel Support Mechanism
Theory of the sensor
60
X axis Load-cell
Hard ball
Z axis Load-cell
140
Y
Y axis Load-cell
Top Plane
Bottom Plane
Z
X
Parallel support structure
FEM analysis of beams
171mm
Fz
Mz
105mm
Fy
Mx
My
Fx
26.5mm
X, Y, Z Max force: 100N, 100N,1000N
Max moment: 50Nm
Outline of the Presentation
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
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Research Background
Development of A Sensor Prototype
Experiments
In the Future
Testing of the Sensor
Calibration Mechanism
Load cell
Drag force
Pulley
weight
least-squares method in MATLAB
Function: polyfit()
Vertical axis: weight mass (kg)
Horizontal axis: strain of strain gages
Calculation of Six-D Forces
Outline of the Presentation
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Research Background
Development of A Sensor Prototype
Experiments
In the Future
Measurement of ankle joint moment in heel strike phase
Sensor with single plane
Sensor with double plane
Z
Ankle joint
Y
X
Heel 3D force sensor
Ground
Reference coordinate
1000N
1000N
1000N
New Sensor and Interface Software
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