抄録
This paper discusses design, fabrication and some experimental validations of a force sensor integrated prototype hub bearing unit which aims to be applied for development of an assist caster to make a labor-friendly cooperative transportation system based on shared-haptic architecture concept possible. Composition of the hub bearing, having a top-, intermediate- and bottom rings with sandwiched steel rolling balls between each of them is inspired from the double-row angular contact ball bearing, and three-elements of exerted force between the top and bottom rings on vertical and horizontal axes can be measured by using output voltage of strain gauges put on elastic hinges connecting each gap on the intermediate ring separated into 4-pieces. After showing fundamental equations to calculate the amplitude and direction of the exerted force especially on horizontal plane, force measurement and transportation assistance experiments are conducted, and obtained results are summarized.
