Design and application of a new high-performance flexible six-axis force/torque sensor for massage therapy

IF 5.2 2区工程技术 Q1 ENGINEERING, MULTIDISCIPLINARY Measurement Pub Date : 2024-11-24 DOI:10.1016/j.measurement.2024.116312

Lu Liu , Xiaoli Jia , Qingyu Yang , Jinglong Zhang , Liaoliang Ke , Jie Yang , Sritawat Kitipornchai

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Abstract

Precise sensing of force magnitude and direction in massage therapy can significantly enhance treatment effectiveness. Despite advancements in flexible multidimensional force sensors, achieving comprehensive spatial force sensing with soft materials remains challenging. This study presents a novel flexible six-axis force/torque sensor, calibrated using a deep neural network. The calibrated sensor exhibits a maximum class I error of 0.603%F.S. and a maximum class II error of 0.751%F.S., indicating excellent measurement performance. Demonstrated in massage physiotherapy, the sensor effectively distinguishes between various techniques and accurately detects subtle force variations within the same technique. The present work introduces a novel strategy for designing flexible six-axis force/torque sensors, thereby laying the groundwork for advancements in intelligent robotics, human–computer interfaces, as well as in the fields of rehabilitation and medicine.

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用于按摩治疗的新型高性能柔性六轴力/扭矩传感器的设计与应用

在按摩治疗中，准确感知力的大小和方向，可以显著提高治疗效果。尽管柔性多维力传感器取得了进步，但用软材料实现全面的空间力传感仍然具有挑战性。本研究提出了一种新型柔性六轴力/扭矩传感器，使用深度神经网络进行校准。校准后的传感器显示最大I类误差为0.603%F.S。最大II类误差为0.751%F.S。，表明测量性能优异。在按摩理疗中，该传感器有效地区分了各种技术，并准确地检测到同一技术中细微的力变化。本文介绍了一种设计柔性六轴力/扭矩传感器的新策略，从而为智能机器人、人机界面以及康复和医学领域的进步奠定了基础。

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来源期刊

Measurement 工程技术-工程：综合

CiteScore

10.20

自引率

12.50%

发文量

1589

审稿时长

12.1 months

期刊介绍： Contributions are invited on novel achievements in all fields of measurement and instrumentation science and technology. Authors are encouraged to submit novel material, whose ultimate goal is an advancement in the state of the art of: measurement and metrology fundamentals, sensors, measurement instruments, measurement and estimation techniques, measurement data processing and fusion algorithms, evaluation procedures and methodologies for plants and industrial processes, performance analysis of systems, processes and algorithms, mathematical models for measurement-oriented purposes, distributed measurement systems in a connected world.