Sensing Pressure Distribution on a Lower-Limb Exoskeleton Physical Human-Machine Interface
| Autor: | A. Persichetti, Bram Koopman, Nicola Vitiello, Maria Chiara Carrozza, Tommaso Lenzi, Stefano Marco Maria De Rossi, Auke Jan Ijspeert, F. Vecchi, Herman van der Kooij, Renaud Ronsse |
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| Jazyk: | angličtina |
| Rok vydání: | 2011 |
| Předmět: |
0209 industrial biotechnology
Engineering METIS-278372 Interface (computing) distributed force sensor 0206 medical engineering Measure (physics) Silicones 02 engineering and technology lcsh:Chemical technology Biochemistry Human–robot interaction Article Analytical Chemistry human-robot interaction User-Computer Interface 020901 industrial engineering & automation Gait training Pressure Humans lcsh:TP1-1185 Electrical and Electronic Engineering Instrumentation Man-Machine Systems Simulation physical human-machine interface lower-limb exoskeleton business.industry technology industry and agriculture Control engineering Robotics 020601 biomedical engineering Pressure sensor Atomic and Molecular Physics and Optics Exoskeleton body regions Lower Extremity Robot Contact area business human activities |
| Zdroj: | Sensors Sensors (Switzerland), 11(1), 207-227. Multidisciplinary Digital Publishing Institute (MDPI) Sensors (Basel, Switzerland) Sensors; Volume 11; Issue 1; Pages: 207-227 Sensors, Vol 11, Iss 1, Pp 207-227 (2010) |
| ISSN: | 1424-8220 |
| Popis: | A sensory apparatus to monitor pressure distribution on the physical human-robot interface of lower-limb exoskeletons is presented. We propose a distributed measure of the interaction pressure over the whole contact area between the user and the machine as an alternative measurement method of human-robot interaction. To obtain this measure, an array of newly-developed soft silicone pressure sensors is inserted between the limb and the mechanical interface that connects the robot to the user, in direct contact with the wearer's skin. Compared to state-of-the-art measures, the advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for the assessment of safety and comfort of human-robot interaction. This paper presents the new sensor and its characterization, and the development of an interaction measurement apparatus, which is applied to a lower-limb rehabilitation robot. The system is calibrated, and an example its use during a prototypical gait training task is presented. |
| Databáze: | OpenAIRE |
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