Six-Axis Strain Gauge Force Sensor for Robot-Assisted Movement Therapy

摘要

This paper discusses the development of a 6 axis strain gauge force-torque sensor for the REHAROB robotic physiotherapy system. Based on literature review and the study of the former sensor of TARA Electronics Ltd. the transducer was designed and prototyped. Signal processing electronics was also designed and developed. Finally, for calibration purposes a test environment was built and the elements of the calibration matrix were calculated from dedicated series of measurments.