Three-dimensional flexible force array sensor for lower limbs rehabilitation robot

Lower-limbs rehabilitation training robot for patients was disturbed by patient´s arms. A new three-dimensional force sensor array was designed based on the properties of silicone pressure-sensitive and the conductive thin film resistance effect, which can detect three-dimensional pressures. Equivalent circuit of the sensor and the working principle of detecting three-dimensional force are given. Using finite element analysis method, relationships between the force and displacement nodes were analyzed. Finally, simulation results validate the effectiveness of the design. This research has an important significance for lower limb rehabilitation robot trajectory control and enhancing rehabilitation training effect.