• 센서학회지
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• 제26권5호
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• pp.331-337
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• 2017

A readout circuit for a tactile sensor pad based on force sensing resistors was proposed, which was composed of an analog signal conditioning circuit and a digital circuit with a microcontroller. The conventional signal conditioning circuit has a dc offset voltage in the output signal, which results from the reference voltage applied to the FSR devices. The offset voltage reduces the dynamic range of the circuit and makes it difficult to operate the circuit under a low voltage power supply. In the proposed signal conditioning circuit, the dc offset voltage was removed completely. The microcontroller with A/D converter and D/A converter was used to enlarge the measurement range of pressure. For this, the microcontroller adjusts the FSR reference voltage according to the resistance magnitude of FSR under pressure. The operation of the proposed readout circuit which was connected to a tactile sensor pad with $5{\times}10$ FSR array was verified experimentally. The experimental results show the proposed readout circuit has the wider measurement range of pressure than the conventional circuit. The proposed circuit is suitable for low voltage and low power applications.

• 로봇학회논문지
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• 제5권4호
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• pp.294-301
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• 2010

In order to produce a convenient robot for the aged and the lower limb disabled, it is needed for the research detecting implicit walking intention and controlling robot by a user's intention. In this study, we developed sensor module system to control the walking- assist robot using FSR sensor and tilt sensor, and analyzed the signals being acquired from two sensors. The sensor module system consisted of the assist device control unit, communication unit by wire/wireless, information collection unit, information operation unit, and information processing PC which handles integrated processing of assist device control. The FSR sensors attached user's the palm and the soles of foot are sensing force/pressure signals from these areas and are used for detecting the walking intention and states. The tilt sensor acquires roll and pitch signal from area of vertebrae lumbales and reflects the pose of the upper limb. We could recognize the more detailed user's walking intention such as 'start walking', 'start of right or left foot forward', and 'stop walking' by the combination of FSR and tilt signals can recognize.

• 반도체디스플레이기술학회지
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• 제20권2호
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• pp.56-60
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• 2021

Recently, technologies for internet of things have been rapidly advanced with development of network. Also interest in smart healthcare that informs about motion information of users has been growing. In this paper, a system that is monitoring the weight on both feet by using aduino and FSR(Force Sensitive Resistor) Sensor is implemented. A 4-channel sensor driver module was implemented to measure a more accurate weight value. It is monitoring the weight on both feet by the using an application for either your PC or mobile device. Mobile applications can contribute to reducing human damage by sending messages along with location in emergency situations, such as injuries caused by falls during outdoor activities.

• 대한후두음성언어의학회지
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• 제9권1호
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• pp.11-16
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• 1998

Background and Objectives : Electrolarynx has been used as one of the methods of rehabilitation for the laryngectomees. Previous electrolarynx could not alter frequency and intensity simultaneously. This institute developed an electrolarynx named "Evada" using FSR(force sensing resistor) sensor, which can control the frequency(and/or intensity) simultaneously. This study was performed for the normal control and laryngectomees with three types of electrolarynx (Evada, Servox-inton, Nu-vois) to reveal functional characteristics of Evada Materials and Methods : five laryngectomees and five normal adults were made to express there sentences(discriptive sentence, "You stay here" ; question sentence, "You stay here？" ; exclamation sentence, "You!! stay here!"), using three types of electrolarynx. Frequency change and intensity change from first and last vowel was calculated in three sentences and analyzed statistically by paired T-test. Results : The frequency change in the question sentence and exclamation sentence was more prominent in Evada than in Servox-inton and Nu-vois. The intensity change in the question sentence and exclamation sentence was also more prominent in Evada than in Servox-inton and Nu-vois. Conclusions : Evada could control frequency and intensity simultaneously and control degree of frequency(and/or intensity) according to the pressing force into the button. Evada could adjust continuously frequency and intensity during conversation. So, Evada is better in producing intonation and contrastive stress than Nu-vois and Servox-inton.

• 융합신호처리학회논문지
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• 제20권2호
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• pp.99-104
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• 2019

최근 현대인들은 잘못된 자세로 인해 다양한 근골격계 질환의 발병률이 높아지고 있다. 근골격계 질환의 근본적인 원인은 잘못된 자세 습관으로 발병한 경우가 많다. 근골격계 질환은 바른 자세 습관을 통해 예방이 가능하지만, 자세를 스스로 인식하여 교정하기는 쉽지 않다. 지속적인 자세 모니터링을 위하여 다양한 연구들이 수행되었으나, 기존 계측 시스템은 구속성 및 고비용으로 인해 일상생활에 적용하기가 적합하지 않다. 본 논문은 일상생활에서 착석 자세 모니터링을 통해 자발적으로 자세 교정을 유도할 수 있는 FSR 센서 어레이를 이용한 자세 판별 시스템을 구현하였다. 구현된 시스템은 방석 형태로 설계되어 기존에 보유하고 있는 의자에 적용이 용이하다. 또한, 일상생활에서 가장 대표적인 5가지 자세를 판별할 수 있으며, 안드로이드 기반의 스마트폰 모니터링 애플리케이션을 통해 실시간으로 모니터링이 가능하다. 시스템의 성능 평가를 위하여 각각의 자세를 50회씩 반복하여 측정하였으며, 98.88%의 높은 자세 판별 정확도를 확인하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.505-507
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• 2004

This paper presents a measurement of ZMP using FSR sensors, and then the ZMP control with measured ZMP on single leg. ZMP is mostly used as standard evaluation of stability of a humanoid robot. The ISHURO has 5 sensors which are mounted at each corner and center of a sole. ZMP is computed using a model of a humanoid robot and information from the joint encoders. And we may able to use measurement data from FSR sensors at the robot feet. IP(Integration Proportional) control algorithm is applied to position control of ZMP that is an error of desired ZMP between measured ZMP.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2008년도 제39회 하계학술대회
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• pp.1793-1794
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• 2008

본 연구는 다양한 환경에서의 인간형 로봇의 안정적인 보행을 하기위한 FSR (Force Sensing Resistor) 센서 기반의 보행패턴에 관한 전체 시스템의 설계와 이의 모의실험이다. 인간형 로봇의 안정적인 보행을 구현하기 위해서는 보행 패턴의 ZMP(Zero Moment Point) 궤적이 안정 영역 내에 위치하게 하여야 하고, 실제 보행 중에도 외부의 환경적인 요인과 내부의 제어 오차에 따라 보행패턴의 수정과 보완이 요구된다. 이에 FSR 센서를 적용하여 전체 인간형 로봇의 보행 시스템을 설계하고 안정적인 다양한 보행을 구현하기 위한 보행패턴을 제안한다. 이를 모의실험을 통해 평지, 계단, 경사면에 따른 보행 안정성을 검증한다. 차후 이러한 모의실험 결과를 보완하여 FSR 센서를 실제 인간형 로봇에 장착하고 실험하여 안정적인 보행을 구현할 계획이다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.95-97
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• 2005

This paper deals with the implementation of walking for a humanoid robot by ZMP measurement using wireless sensor network. ZMP is measured by FSR sensors which are mounted at each corner of a sole. The wireless sensor network collects the sensor data according and exchanges robot information between host PC and a robot system. The master controller mounted on robot body receives trajectory data from the host PC via sensor network and drives the joint motor based on trajectory data. The time scheduler of the master controller controls the events at the ratio of 100ms. With this configuration, the walking of the humanoid robot KHR-1 could be realized successfully.

• 재활복지공학회논문지
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• 제7권2호
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• pp.109-115
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• 2013

본 논문에서는 전동휠체어용 압력분포 측정시스템을 개발하고, 실제 휠체어 사용자들을 대상으로 동작분석과 연계한 압력분포 변화실험을 통해 유의성을 검증하고자 하였다. 측정시스템은 휠체어 이동방향에 따른 압력분포 변화 측정을 위해 64ch의 시트쿠션 FSR 센서신호 및 좌 우 각 30ch의 팔걸이 FSR 센서신호를 2ch의 좌 우 바퀴형 엔코더 신호와 동시에 12bit, 10Hz의 샘플링 속도로 획득할 수 있도록 개발하였으며, 이 신호들을 USB 인터페이스를 통해 휠체어 뒤쪽에 장착 가능한 노트북PC로 전송 후 실시간으로 화면표시, 저장, 재생을 수행할 수 있는 실시간 신호처리 소프트웨어를 개발하였다. 개발된 측정시스템을 사용한 압력분포 변화 실험은 실제 휠체어 사용자 10인을 대상으로 적외선 마커 기반의 동작분석실에서 3D 동작분석과 연계하여 실시하였다. 실험결과, 휠체어 진행 중 회전구간에서 몸이 회전의 바깥 방향으로 기울어지는 것을 확인할 수 있었으며 실험결과 및 실험 후 인터뷰를 통해 전동휠체어 설계 시 시트의 형태에 대한 개선요구사항을 획득할 수 있었다.

• 대한의용생체공학회:의공학회지
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• 제31권4호
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• pp.269-274
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• 2010

The purpose of this study was to develop the FSR sensor suit that controls walking assist device for paraplegic patients. The FSR sensor suit was to detect user's intent and patterns for walking by measuring pressure on the palm and the sole of user's foot. It consisted of four modules: sensing pressure from palm, changing modes and detecting pressure on the palm/at the wrist, sensing pressure from the soles of user's foot, and host module that transmit FSR data obtained from sensing modules to PC. Sensing modules were connected to sensing pads which detect analog signals obtained from the palm or the sole of foot. These collect signals from the target regions, convert analog signals into digital signals, and transmit the final signals to host module via zigbee modules. Finally, host modules transmit the signals to host PC via zigbee modules. The study findings showed that forces measured at the palm when using a stick reflected user's intent to walk and forces at the sole of the user's foot revealed signals detecting walking state.