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Three-Dimensional Force System01:30

Three-Dimensional Force System

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In mechanical engineering, a three-dimensional force system is a system of forces acting in three dimensions, with forces applied along the x, y, and z coordinate axes. The three-dimensional force system is an important concept in mechanical engineering, as it allows engineers to understand and analyze the behavior of objects and structures in three dimensions. By understanding the forces acting on a system, engineers can design more efficient and effective mechanical systems that can withstand...
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Torque Free Motion01:15

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The torque-free motion refers to the movement of a rigid body in space when no external torques are acting upon it. This type of motion can be observed in environments where there are no external forces or frictions, like in outer space. For example, a rotation of Mars in space is a torque-free motion. Mars is an axisymmetric object, meaning it has an axis of symmetry along which it rotates, designated as the z-axis. The rotating frame of reference is defined such that the center of mass of...
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Torque is an important quantity for describing the dynamics of a rotating rigid body. We see the application of torque in many ways in the world, such as when pressing the accelerator in a car, which causes the engine to apply additional torque on the drivetrain. Here, we define torque and provide a framework to create an equation to calculate torque for a rigid body with fixed-axis rotation.
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When a mechanic tries to remove a hex nut with a wrench, it is easier if the force is applied at the farthest end of the wrench handle. The lever arm is the distance from the pivot point (the hex nut in this case) to the person’s hand. If this distance is large, the torque is higher. Only the component of the force perpendicular to the lever arm contributes to the torque. Therefore, pushing the wrench perpendicular to the lever arm is more advantageous. If multiple people apply force to...
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A three-dimensional force system refers to a scenario in which three forces act simultaneously in three different directions. This type of problem is commonly encountered in physics and engineering, where it is necessary to calculate the resultant force on the system, which can then be used to predict or analyze the behavior of the object or structure under consideration.
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Force and Position Control in Humans - The Role of Augmented Feedback
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Rugged and Compact Three-Axis Force/Torque Sensor for Wearable Robots.

Heeyeon Jeong1,2, Kyungjun Choi1, Seong Jun Park1

  • 1Department of Robot and Mechatronics, Korea Institute of Machinery & Materials (KIMM), 156, Gajeongbuk-ro, Yuseong-gu, Daejeon 34103, Korea.

Sensors (Basel, Switzerland)
|April 30, 2021
PubMed
Summary
This summary is machine-generated.

This study introduces a new, compact three-axis force/torque sensor for wearable robots. It accurately measures user strength for enhanced robot control and is manufactured affordably.

Keywords:
capacitive sensorcompact and high-load sensorneural network calibrationthree-axis force/torque sensorwearable sensor

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Area of Science:

  • Robotics
  • Sensor Technology
  • Human-Robot Interaction

Background:

  • Sensors are vital for robot-user interaction, primarily by measuring user strength to control wearable robots.
  • Existing sensors may lack compactness or high load capacity needed for advanced wearable robotics.

Purpose of the Study:

  • To propose a novel, compact, and high-load-capacity three-axis force/torque sensor specifically designed for wearable robots.
  • To enable precise measurement of user strength for improved wearable robot control.

Main Methods:

  • A novel bolt and nut combination designed for high-load capacity and compactness.
  • Three parallel-arranged capacitance-sensing cells to measure three-axis force/torque via capacitance changes.
  • Deep neural network calibration for converting capacitance changes to force/torque information.
  • Geometric and kinematic relations for confirming the sensor's sensing point.

Main Results:

  • The proposed sensor is compact, lightweight, and possesses high load capacity.
  • Demonstrated accurate force/torque measurement through capacitance changes and deep neural network calibration.
  • Successful application in measuring artificial muscle force on a wearable robot.

Conclusions:

  • The developed sensor offers a simple, inexpensive, and effective solution for force/torque sensing in wearable robots.
  • Its performance, including repeatability and capacity, is validated through experimental setups.
  • The sensor facilitates enhanced human-robot interaction by accurately capturing user strength.