000161576 001__ 161576
000161576 005__ 20181203022234.0
000161576 0247_ $$2doi$$a10.1016/j.sna.2010.01.014
000161576 022__ $$a0924-4247
000161576 02470 $$2ISI$$a000282923900034
000161576 037__ $$aARTICLE
000161576 245__ $$aThick-film multi-DOF force / torque sensor for wrist rehabilitation
000161576 260__ $$bElsevier$$c2010
000161576 269__ $$a2010
000161576 336__ $$aJournal Articles
000161576 500__ $$aVersion étendue, originalement présenté à Eurosensors XXIII : https://infoscience.epfl.ch/record/140905
000161576 520__ $$aA complete six degree of freedom (6 DOF) force/torque sensor has been designed and fabricated, adapted to wrist rehabilitation applications, with the focus laid on simple, straightforward manufacturing processes. This paper details the mechanical design, 3D modeling, manufacture and characterisation of the sensor. Compared to previous work [1], this design has the advantage of simple, fully planar machining, and the load-sensing elements all lie on the same plane, making the device compatible with single-film deposition or a foil bonding process. The sensor was machined from steel, and the piezoresistive load-sensing bridges were deposited using thick-film technology. We used commercial thick-film materials in the work described here. A new lead-free materials system compatible with low processing temperatures (<700 °C) will shortly replace the commercial one and is expected to eventually also be adaptable to aluminium substrates. Such a sensor could find applications in multi-DOF therapeutic robotic systems as well as in isometric motor training.
000161576 6531_ $$aCouches épaisses
000161576 6531_ $$aThick-film technology
000161576 6531_ $$aCapteurs de force & couple
000161576 6531_ $$aForce & torque sensors
000161576 6531_ $$aDegrés de liberté multiples
000161576 6531_ $$aMultiple DOF
000161576 700__ $$0241293$$aJacq, Caroline$$g143964
000161576 700__ $$aLüthi, Barthélémy
000161576 700__ $$0240386$$aMaeder, Thomas$$g102445
000161576 700__ $$aLambercy, Olivier
000161576 700__ $$aGassert, Roger
000161576 773__ $$j162$$k2$$q361-366$$tSensors and Actuators A
000161576 8564_ $$s838360$$uhttps://infoscience.epfl.ch/record/161576/files/Jacq%206DOF%20sensor%20-%20manuscript%20-%20091231%20R1%20-%20complet.pdf$$yPreprint$$zPreprint
000161576 909C0 $$0252100$$pLPM
000161576 909CO $$ooai:infoscience.tind.io:161576$$particle
000161576 917Z8 $$x102445
000161576 917Z8 $$x102445
000161576 937__ $$aEPFL-ARTICLE-161576
000161576 973__ $$aEPFL$$rREVIEWED$$sPUBLISHED
000161576 980__ $$aARTICLE