1. Development of a Wearable 6-D Force Sensor for Human Dynamics Analysis Tao LIU Department of Intelligent Mechanical Systems Engineering Kochi University of Technology, Japan 9, Nov, 2004

2. Outline of the Presentation  Research Background  Development of A Sensor Prototype  Experiments  In the Future

3. Human segments dynamic analysis model Wearable inertial sensor (Gyro and Accelerometer) Wearable six-dimension force sensor M1 ankle joint M2 knee joint M3 hip joint

4. Wearable inertial sensor (Gyro and Accelerometer) Wearable six-dimension force sensor M1 ankle joint M2 knee joint M3 hip joint Human segments dynamic analysis model Muscle model

5. Last Application about wearable sensors and actuators Berkeley lower Extremity exoskeleton, USA 2004 University of Tuskuba, Japan 2004

6. Last Research and Product on Wearable Force Sensors NITTA corporation (Insole Pressure Sensor) University of Tokyo Six-axis Sensor

7. Relative production of our Lab

8. Outline of the Presentation  Research Background  Development of A Sensor Prototype  Experiments  In the Future

9. Force Sensor with Serial Support Mechanism Sensor with Parallel Support Mechanism Load-cell Two kinds of structures in sensor design Moment Force Moment

10. Hard ball Y X Z X axis Load-cell Y axis Load-cell Z axis Load-cell 60 140 Top Plane Bottom Plane Theory of the sensor

11. Parallel support structure

12. FEM analysis of beams

13. 171mm 105mm 26.5mm Fy My Fz Mz Fx Mx X, Y, Z Max force: 100N, 100N,1000N Max moment: 50Nm

14. Outline of the Presentation  Research Background  Development of A Sensor Prototype  Experiments  In the Future

15. Testing of the Sensor

16. Drag force weight Load cell Pulley Calibration Mechanism

17. least-squares method in MATLAB Function: polyfit() Vertical axis: weight mass (kg) Horizontal axis: strain of strain gages

18. Calculation of Six-D Forces

19. Outline of the Presentation  Research Background  Development of A Sensor Prototype  Experiments  In the Future

20. Sensor with single plane Sensor with double plane Measurement of ankle joint moment in heel strike phase Ankle joint Heel 3D force sensor Ground Z X Y Z X Y Z X Y Reference coordinate

21. 1000N

22. New Sensor and Interface Software