Document Detail


Sensing pressure distribution on a lower-limb exoskeleton physical human-machine interface.
MedLine Citation:
PMID:  22346574     Owner:  NLM     Status:  MEDLINE    
Abstract/OtherAbstract:
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.
Authors:
Stefano Marco Maria De Rossi; Nicola Vitiello; Tommaso Lenzi; Renaud Ronsse; Bram Koopman; Alessandro Persichetti; Fabrizio Vecchi; Auke Jan Ijspeert; Herman van der Kooij; Maria Chiara Carrozza
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Publication Detail:
Type:  Journal Article; Research Support, Non-U.S. Gov't     Date:  2010-12-28
Journal Detail:
Title:  Sensors (Basel, Switzerland)     Volume:  11     ISSN:  1424-8220     ISO Abbreviation:  Sensors (Basel)     Publication Date:  2011  
Date Detail:
Created Date:  2012-02-20     Completed Date:  2012-07-09     Revised Date:  2013-06-26    
Medline Journal Info:
Nlm Unique ID:  101204366     Medline TA:  Sensors (Basel)     Country:  Switzerland    
Other Details:
Languages:  eng     Pagination:  207-27     Citation Subset:  IM    
Affiliation:
ARTS Lab, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy. s.derossi@sssup.it
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MeSH Terms
Descriptor/Qualifier:
Humans
Lower Extremity / physiology*
Man-Machine Systems*
Pressure*
Robotics
Silicones / chemistry
User-Computer Interface
Chemical
Reg. No./Substance:
0/Silicones
Comments/Corrections

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine


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