Force Sensor For Monitoring in the Rehabilitation of Children with Motor Problems in the Upper Limbs
DOI:
https://doi.org/10.17981/ingecuc.19.1.2023.08Keywords:
force sensor, strain gauges, sensor for MIT-MANUS robot, force sensing with Arduino, Maltese cross based force sensingAbstract
Introduction: Robotic rehabilitation devices for motor impairment patients are widely used since they significantly impact the rehabilitation process by offering a uniform exercise plan without typical variations due to different human therapists. These devices require force sensors to monitor the patient recovery evolution. Among the rehabilitation robotic devices is the two degree-of-freedom MIT-MANUS model used in patients with upper limbs motor problems. In order to complement the use of a MIT-MANUS system, it is necessary to equip it with planar sensing forces capability. Unfortunately, commercial devices are very expensive and not very accessible in countries like Colombia. Therefore, the research objective is to develop a force sensor for a robotic MIT-MANUS system that is simple, robust, economical and reliable.
Objective: Develop an in-plane sensing device capable of detecting, with good precision and an acceptable measurement error, the forces exerted by girls and boys up to 10 years of age.
Method: A Mechanical Engineering methodological design approach was used, based on the phases of conception, design, CAE validation, construction, assembly and experimental tests.
Results: The research main result was the construction of an experimentally validated sensing device capable of measuring force up to 60 N in the plane.
Conclusions: After carrying out the tests and experimental trials, it was possible to verify that the sensor is reliable when measuring a force in the plane. The maximum measurement error of a vertical or horizontal force component is 10%, which is reduced to 6% when the resultant force value is calculated. The source of the errors is diverse, due to the non-homogeneity of the metallic element, the type of gauge that was used, the chemicals used to weld the gauge to the mechanical element, ADC conversion problems, among others, but their acceptable values allow using of the gauge in the application initially planned.
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