Wearable Sensory Apparatus for Real-Time Feedback in Wearable Robotics

被引:1
作者
Munih, Marko [1 ]
Ivanic, Zoran [1 ]
Kamnik, Roman [1 ]
机构
[1] Univ Ljubljana, Fac Elect Engn, Ljubljana 1000, Slovenia
来源
APPLIED SCIENCES-BASEL | 2021年 / 11卷 / 23期
基金
欧盟地平线“2020”;
关键词
inertial measurement unit; wearable sensors; whole body awareness; gait phase detection; control strategy; exoskeleton; robotic prosthetics; GAIT EVENT DETECTION; ANGLE MEASUREMENT; ACCELEROMETERS; CHALLENGES; NETWORKS; SYSTEM; DETECT; PHASE;
D O I
10.3390/app112311487
中图分类号
O6 [化学];
学科分类号
0703 ;
摘要
We describe the Wearable Sensory Apparatus (WSA) System, which has been implemented and verified in accordance with the relevant standards. It comprises the Inertial Measurement Units (IMUs), real-time wireless data transmission over Ultrawideband (UWB), a Master Unit and several IMU dongles forming the Wireless Body Area Network (WBAN). The WSA is designed for, but is not restricted to, wearable robots. The paper focuses on the topology of the communication network, the WSA hardware, and the organization of the WSA firmware. The experimental evaluation of the WSA incorporates the confirmation of the timing using the supply current WSA profile, measurements related to determining the less error prone position of the master device on the backpack, measurements of the quality of the data transfer in a real environment scenario, measurements in the presence of other microwave signals, and an example of raw IMU signals during human walking. Placement of the master device on the top of the backpack was found to be less error prone, with less than 0.02% packet loss for all the IMU devices placed on different body segments. The packet loss did not change significantly in public buildings or on the street. There was no impact of Wi-Fi bands on the WSA data transfer. The WSA hardware and firmware passed conformance testing in a certified lab. Most importantly, the WSA performed reliably in the laboratory and in clinical tests with exoskeletons and prostheses.
引用
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页数:20
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