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Development and Validation of a Flexible Sensing Array for Placement within the Physical Human-Exoskeleton Interface.

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    IEEE ... International Conference on Rehabilitation Robotics : [Proceedings]
    |November 9, 2023
    PubMed
    Summary

    A new, low-cost sensing sleeve using force-sensitive resistors (FSRs) accurately monitors the human-exoskeleton interface (HEI). This flexible array offers a promising tool for enhancing safety and understanding human-robot interaction in wearable robotics.

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    Area of Science:

    • Robotics
    • Biomechanics
    • Wearable Technology

    Background:

    • Monitoring the human-exoskeleton interface (HEI) is crucial for safety in assistive exoskeletons.
    • Designing with interaction forces in mind enhances comfort, efficiency, and reduces resistance.
    • Integrating sensors into the lower limb area without hindering user-robot interaction presents a significant challenge.

    Purpose of the Study:

    • To develop and evaluate a novel sensing sleeve for monitoring the HEI.
    • To assess the feasibility of using a low-cost, flexible sensing array for HEI assessment.
    • To provide a tool for evaluating human-robot interaction in wearable robotic devices.

    Main Methods:

    • A sensing sleeve incorporating 30 force-sensitive resistor (FSR) sensors was designed.
    • The system was developed to operate independently of the exoskeleton to assess attachment modalities.
    • System characterization involved rigorous testing, including human trials.

    Main Results:

    • The FSR-based sensing sleeve demonstrated accurate monitoring of the HEI.
    • The flexible sensing array proved to be a low-cost solution for HEI assessment.
    • Human trials validated the system's effectiveness in real-world conditions.

    Conclusions:

    • A flexible, low-cost sensing array using FSRs can effectively monitor the human-exoskeleton interface.
    • This technology offers a promising tool for improving safety and understanding in assistive exoskeleton use.
    • The developed system facilitates the investigation of human-robot interaction and wearable robotic device performance.