Sensing pressure distribution on a lower-limb exoskeleton physical human-machine interface.

Sensors
S M M De RossiM C Carrozza

Abstract

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.

References

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Citations

Aug 14, 2013·Medical Engineering & Physics·Domen NovakMarko Munih
Jan 17, 2013·Sensors·Marco DonatiMaria Chiara Carrozza
Jan 5, 2014·Sensors·Marco DonatiNicola Vitiello
Jan 15, 2014·Sensors·Simona CreaNicola Vitiello
Feb 19, 2015·Sensors·Jesús Tamez-DuqueJose Luis Contreras-Vidal
May 17, 2012·IEEE Transactions on Bio-medical Engineering·T LenziM C Carrozza
Jul 12, 2018·IEEE Reviews in Biomedical Engineering·Wenhao DengSong Han
Sep 2, 2011·Medical & Biological Engineering & Computing·Renaud RonsseAuke Jan Ijspeert
Feb 1, 2020·Human Factors·Leia StirlingHyeg Joo Choi
Aug 25, 2016·Plastic and Reconstructive Surgery·Jacquelynn P TranLinda G Phillips
Jul 1, 2017·Behavioural Neurology·Xue ZhangJing Wang
Mar 26, 2020·Human Factors·Yilin WangXiaojuan Zheng
Dec 23, 2016·Healthcare Technology Letters·Matthew WilcoxTom Carlson
May 20, 2017·Journal of Neuroengineering and Rehabilitation·Matthew B YandellKarl E Zelik
Mar 26, 2021·Frontiers in Neurorobotics·Longbin ZhangElena M Gutierrez-Farewik

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Methods Mentioned

BETA
chip
force measurement

Software Mentioned

LOPES
HAL suite
Shape Language Modeling
MATLAB®
ANSYS

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