歪みゲージを用いたボルト型力覚センサの開発

―キャリブレーション手法と配線方式の改良―

抄録

This paper reports the improvement of the bolt type force sensor which has been developed by our research group. The intended application of this sensor is force measurement in sport climbing. Climbing holds are generally fixed by a steel bolt. Four strain gauges are installed to the shaft of the bolt to detect forces applied during sport climbing. This proposed sensor allows force measurement without the need to modify climbing holds or walls to install it. In this paper, the two modifications of structure and calibration are introduced. The first is that the wiring comes out from the threaded part of the bolt, rather than from the head of the bolt. The sensor does not interfere with the movement of sport climbing then. The second is about the particle filter of the calibration method. In calibration process, the improved particle filter can reduce the effect of noise. It is confirmed the effectiveness of improved particle filter by a comparison between the previous and proposed methods.