3D contact force sensor for assisted rehabilitation robot human-computer interaction

Interference power in the horizontal direction will take place while patients use a mobile robot-assisted rehabilitation. For detecting the horizontal and vertical direction, 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 described. Using finite element analysis method, relationships between force and displacement nodes are analyzed. Finally, the effectiveness of the design is proved. This research has important significance for lower limb rehabilitation robot trajectory control and enhances rehabilitation training effect.