Development of Thigh-link Integrated Hip-Joint Torque Sensor for Walking Aid Robot

Abstract

In this paper, we designed and manufactured a thigh link integrated hip joint torque sensor for walking aid robot. The torque sensor is designed and built on the hip joint of the thigh link, which is combined with the waist block. This sensor is used to control the torque when a patient walks with a walking aid robot. In order to manufacture this torque sensor, the sensor sensing part is composed of hollow core type, and it is designed to output the rated strain at the position of strain gage through structural analysis and is produced by attaching a strain gauge. Characteristic test of the manufactured torque sensor showed that the error was less than 0.04%. Therefore, it can be used as a hip joint torque sensor for walking aid robot.