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A stretchable sensor for force estimation in soft wearable robots.

Chiara Basla, Anna-Maria Georgarakis, Markus Reichmuth

    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |September 30, 2022
    PubMed
    Summary
    This summary is machine-generated.

    This study introduces a soft, stretchable strain gauge for wearable robots (exosuits) to accurately measure forces. This innovation enables real-world applications and improved human-robot interaction outside the lab.

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    Area of Science:

    • Robotics
    • Biomechanics
    • Materials Science

    Background:

    • Wearable robots like exosuits offer mobility assistance but face challenges with rigid, non-wearable force sensors.
    • Current force measurement methods in exosuits are often unsuitable for practical, real-world applications.
    • There is a need for compliant, lightweight, and body-conforming sensors for seamless integration into wearable robotic systems.

    Purpose of the Study:

    • To develop and evaluate a novel soft, stretchable silicone-based strain gauge system for measuring forces within exosuit elastic elements.
    • To assess the accuracy and portability of the developed wearable sensing system for human movement analysis.
    • To demonstrate the potential of stretchable sensors for controlling human-robot interaction and enabling outdoor gait monitoring.

    Main Methods:

    • Development of a soft, stretchable silicone-based strain gauge sensor.
    • Integration of the sensor into the passive elastic elements of an exosuit.
    • Validation of sensor accuracy by comparing force estimations with a motion capture system during treadmill walking (0.9–2.1 m/s) in two participants.
    • Demonstration of system portability through outdoor walking trials.

    Main Results:

    • The developed wearable sensing system achieved an average root mean square error of 12.5% and a standard deviation of 7.4% in force estimation compared to a motion capture system.
    • The system demonstrated portability and effectiveness in monitoring forces during outdoor walking.
    • The soft, stretchable sensors conformed well to the body and were unobtrusive when integrated into the exosuit.

    Conclusions:

    • Soft, stretchable strain gauge sensors offer a promising alternative to traditional rigid sensors for force measurement in wearable robots.
    • This technology has the potential to significantly advance the application of exosuits in real-world settings, including outdoor environments.
    • The developed system can enable more sophisticated human-robot interaction and provide valuable data for gait analysis and rehabilitation studies.