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

Stefano Marco Maria De Rossi¹, Nicola Vitiello, Tommaso Lenzi

¹ARTS Lab, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy. s.derossi@sssup.it

Sensors (Basel, Switzerland)

|February 21, 2012

Summary

This summary is machine-generated.

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Somatosensation

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The somatosensory system relays sensory information from the skin, mucous membranes, limbs, and joints. Somatosensation is more familiarly known as the sense of touch. A typical somatosensory pathway includes three types of long neurons: primary, secondary, and tertiary. Primary neurons have cell bodies located near the spinal cord in groups of neurons called dorsal root ganglia. The sensory neurons of ganglia innervate designated areas of skin called dermatomes.

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A new sensory apparatus uses soft silicone pressure sensors to measure distributed interaction pressure on lower-limb exoskeletons. This advancement enhances the assessment of safety and comfort in human-robot interactions.

Area of Science:

Robotics
Biomedical Engineering
Human-Robot Interaction

Background:

Assessing human-robot interaction in lower-limb exoskeletons is crucial for safety and comfort.
Current methods may not fully capture the nuances of pressure distribution at the interface.

Purpose of the Study:

To introduce a novel sensory apparatus for monitoring pressure distribution on the human-robot interface of lower-limb exoskeletons.
To propose a distributed measure of interaction pressure as an alternative to state-of-the-art methods.

Main Methods:

Development and characterization of an array of soft silicone pressure sensors.
Integration of sensors into a lower-limb exoskeleton's physical interface.
Calibration of the developed interaction measurement apparatus.

Keywords:

distributed force sensor human-robot interaction lower-limb exoskeleton physical human-machine interface

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Application of the system to a lower-limb rehabilitation robot.

Main Results:

The study presents a new sensor and details the development of an interaction measurement apparatus.
The apparatus allows for a distributed measure of interaction pressure over the entire contact area.
The system was successfully calibrated and demonstrated during a gait training task.

Conclusions:

The proposed sensory apparatus offers a distributed measure of interaction pressure, improving assessment of human-robot interaction.
This technology has the potential to enhance safety and comfort in exoskeleton use.
The developed system is applicable to rehabilitation robotics and gait training.