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Methodologies for evaluating exoskeletons with industrial applications.

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Low-Cost Force Sensors Embedded in Physical Human-Machine Interfaces: Concept, Exemplary Realization on Upper-Body

Niclas Hoffmann1,2, Samet Ersoysal1, Gilbert Prokop1

  • 1Department of Production Technologies, Institute of Mechatronics, University of Innsbruck, 6020 Innsbruck, Austria.

Sensors (Basel, Switzerland)
|January 22, 2022
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Summary

This study introduces a low-cost sensor pad for human-machine interfaces, accurately detecting interaction forces. This technology enhances collaboration by enabling ergonomic adjustments in systems like upper-body exoskeletons.

Keywords:
evaluationexoskeletonforce sensorhuman–machine interactioninteraction forceslow costmetrological comparisonpressure sensorwearable robot

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Area of Science:

  • Robotics and Human-Machine Systems
  • Biomedical Engineering
  • Materials Science

Background:

  • Human-machine collaboration is increasing, necessitating effective interfaces.
  • Interaction forces in physical human-machine interfaces are critical for collaboration effectiveness and comfort.
  • Accurate detection of these forces is challenging due to diverse sensor requirements.

Purpose of the Study:

  • To develop and validate a low-cost sensor pad for detecting interaction forces in human-machine interfaces.
  • To assess the sensor pad's accuracy in isolated and real-world applications.
  • To explore the sensor pad's utility in identifying ergonomic issues in exoskeletal systems.

Main Methods:

  • Development of a sensor pad utilizing a silicone capsule and a piezoresistive pressure sensor.
  • Validation of measurement accuracy using a material-testing machine.
  • Laboratory study with human subjects and integration into an active upper-body exoskeleton interface.
  • Comparison with a multi-axis load cell and a high-resolution flexible pressure map.

Main Results:

  • The sensor pad reliably detects normal forces up to a specific threshold.
  • Validation confirmed accuracy in both controlled and practical settings.
  • Embedded sensor pads in an exoskeleton interface successfully correlated with load cell and pressure map data.

Conclusions:

  • The developed low-cost sensor pad is effective for measuring interaction forces in human-machine interfaces.
  • It can identify exoskeletal support and detect poor fit conditions, enabling ergonomic improvements.
  • This technology offers a practical solution for enhancing human-robot collaboration and system ergonomics.