A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure

被引：68

作者：

Donati, Marco ^{[1
]}

Vitiello, Nicola ^{[1
]}

De Rossi, Stefano Marco Maria ^{[1
]}

Lenzi, Tommaso ^{[1
]}

Crea, Simona ^{[1
]}

Persichetti, Alessandro ^{[1
]}

Giovacchini, Francesco ^{[1
]}

Koopman, Bram ^{[2
]}

Podobnik, Janez ^{[3
]}

Munih, Marko ^{[3
]}

Carrozza, Maria Chiara ^{[1
]}

机构：

[1] Scuola Super Sant Anna, BioRobot Inst, I-56025 Pontedera, PI, Italy

[2] Univ Twente, Inst Biomed Technol & Tech Med MIRA, Biomech Engn Lab, NL-7500 EA Enschede, Netherlands

[3] Univ Ljubljana, Robot Lab, SI-1000 Ljubljana, Slovenia

来源：

SENSORS | 2013年 / 13卷 / 01期

关键词：

distributed force sensor; wearable robotics; physical human-robot interaction; pressure-sensitive insole; EXOSKELETON; DESIGN; REHABILITATION; ROBOT; ASSISTANCE; WALKING; SYSTEM; MODULE;

D O I：

10.3390/s130101021

中图分类号：

O65 [分析化学];

学科分类号：

070302 ; 081704 ;

摘要：

We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant'Anna. The system is composed of flexible matrices of opto-electronic sensors covered by a soft silicone cover. This sensory system is completely modular and scalable, allowing one to cover areas of any sizes and shapes, and to measure different pressure ranges. In this work we present the main application areas for this technology. A first generation of the system was used to monitor human-robot interaction in upper- (NEUROExos; Scuola Superiore Sant'Anna) and lower-limb (LOPES; University of Twente) exoskeletons for rehabilitation. A second generation, with increased resolution and wireless connection, was used to develop a pressure-sensitive foot insole and an improved human-robot interaction measurement systems. The experimental characterization of the latter system along with its validation on three healthy subjects is presented here for the first time. A perspective on future uses and development of the technology is finally drafted.

引用

页码：1021 / 1045

页数：25

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