한국정밀공학회지 (Journal of the Korean Society for Precision Engineering)

  • 제25권7호
  • /
  • Pages.79-86
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  • 2008
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  • 1225-9071(pISSN)
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  • 2287-8769(eISSN)
한국정밀공학회 (Korean Society for Precision Engineering)
권호 표지

사람 보행시 발바닥의 힘정보를 측정하기 위한 지능형 신발시스템 개발

Development of lntelligent Shoe System to Measure Applied Force/Moment on the Sole of a Foot during Human Walking

  • 김갑순 (경상대학교 제어계측공학과, ERI) ;
  • 김현민 (경상대학교 대학원 제어계측공학과) ;
  • 허덕찬 (경상대학교 대학원 제어계측공학과)
  • 발행 : 2008.07.01
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초록

This paper describes the development of wearing intelligent shoe system to measure applied forces and moments (ground reaction forces and moments) on the soles of feet during human walking. In order to walk safely, robot must get the intelligent feet with 6-axis force/moment sensors (Fx sensor (x-direction force sensor), Fy sensor, Fz sensor, Mx sensor (Mx : x-direction moment sensor), My sensor, and Mz sensor) and detect the forces and moments data from the sensors. And the feet must be controlled with the data and controllers. While a human is walking, the forces and moments should be measured and analyzed for robot's intelligent feet. Therefore, the wearing intelligent shoe system should be developed. In this paper, four 6-axis farce/moment sensors and two high speed measuring devices were designed and fabricated, and the wearing intelligent shoe system was made using these. The characteristic tests of the wearing intelligent shoe system were performed, and the forces and moments were detected using it.

키워드

참고문헌

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