期刊
SENSORS
卷 13, 期 1, 页码 1021-1045出版社
MDPI
DOI: 10.3390/s130101021
关键词
distributed force sensor; wearable robotics; physical human-robot interaction; pressure-sensitive insole
资金
- EU within the EVRYON Project (FP7) [231451]
- EU within the CYBERLEGs Project (FP7) [287894]
- EU within the CareToy Project (FP7) [287932]
- EU within the WAY project (FP7) [288551]
- Regione Toscana under the Health Regional Research Programme within the project EARLYREHAB
- Italian Government within the national AMULOS Project, Industria [MI01_00319]
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.
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