Real-Time Strap Pressure Sensor System for Powered Exoskeletons

Sensors

Jesús Tamez-Duque¹  Rebeca Cobian-Ugalde¹  Atilla Kilicarslan²  Anusha Venkatakrishnan²  Rogelio Soto¹ 

[1] National Robotics Laboratory, School of Engineering and Sciences, Tecnológico de Monterrey, Monterrey N.L. 64849, Mexico; E-Mails:;Laboratory for Non-Invasive Brain-Machine Interface Systems, Department of Electrical and Computer Engineering, University of Houston, Houston, TX 77004, USA; E-Mails:

关键词: exoskeleton straps;    monitoring system;    rehabilitation robotics;    spinal cord injury (SCI);    pHRi;    graphical user interface (GUI);    physical therapy;    safety;   

DOI  :  10.3390/s150204550

来源: mdpi

【 摘 要 】

Assistive and rehabilitative powered exoskeletons for spinal cord injury (SCI) and stroke subjects have recently reached the clinic. Proper tension and joint alignment are critical to ensuring safety. Challenges still exist in adjustment and fitting, with most current systems depending on personnel experience for appropriate individual fastening. Paraplegia and tetraplegia patients using these devices have impaired sensation and cannot signal if straps are uncomfortable or painful. Excessive pressure and blood-flow restriction can lead to skin ulcers, necrotic tissue and infections. Tension must be just enough to prevent slipping and maintain posture. Research in pressure dynamics is extensive for wheelchairs and mattresses, but little research has been done on exoskeleton straps. We present a system to monitor pressure exerted by physical human-machine interfaces and provide data about levels of skin/body pressure in fastening straps. The system consists of sensing arrays, signal processing hardware with wireless transmission, and an interactive GUI. For validation, a lower-body powered exoskeleton carrying the full weight of users was used. Experimental trials were conducted with one SCI and one able-bodied subject. The system can help prevent skin injuries related to excessive pressure in mobility-impaired patients using powered exoskeletons, supporting functionality, independence and better overall quality of life.

【 授权许可】

CC BY   
© 2015 by the authors; licensee MDPI, Basel, Switzerland.