Development of a six-axis force/moment sensor for a spherical-type finger force measuring system

Some patients cannot use their hands because their fingers are paralysed. Their fingers can recover with rehabilitative training and the extent of rehabilitation can be judged by grasping a spherical object with their fingers. This study looks at the development of a six-axis force/moment sensor and a spherical-type finger force measuring system with it which can measure grasping force. The six-axis force/moment sensor was designed and fabricated and a high-speed force measuring device was designed and manufactured by using digital signal processing. Also, the characteristic tests of the developed six-axis force/moment sensor and the spherical-type finger force measuring system were carried out. The tests confirm that the developed six-axis force/moment sensor is very good in interference error, and it can be used for the spherical-type finger force measuring system.