A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure

Sensors

Marco Donati²  Nicola Vitiello²  Stefano Marco Maria De Rossi²  Tommaso Lenzi²  Simona Crea²  Alessandro Persichetti²  Francesco Giovacchini²  Bram Koopman³  Janez Podobnik¹  Marko Munih¹ 

[1] Laboratory of Robotics, University of Ljubljana, SI-1000 Ljubljana, Slovenia; E-Mails:;The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:;Biomechanical Engineering Laboratory, Institute for Biomedical Technology and Technical Medicine (MIRA), University of Twente, 7500 EA Enschede, The Netherlands; E-Mail:

关键词: distributed force sensor;    wearable robotics;    physical human-robot interaction;    pressure-sensitive insole;   

DOI  :  10.3390/s130101021

来源: mdpi

【 摘 要 】

We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant'Anna. The system is composed of flexible matrices of opto-electronic sensors covered by a soft silicone cover. This sensory system is completely modular and scalable, allowing one to cover areas of any sizes and shapes, and to measure different pressure ranges. In this work we present the main application areas for this technology. A first generation of the system was used to monitor human-robot interaction in upper- (NEUROExos; Scuola Superiore Sant'Anna) and lower-limb (LOPES; University of Twente) exoskeletons for rehabilitation. A second generation, with increased resolution and wireless connection, was used to develop a pressure-sensitive foot insole and an improved human-robot interaction measurement systems. The experimental characterization of the latter system along with its validation on three healthy subjects is presented here for the first time. A perspective on future uses and development of the technology is finally drafted.

【 授权许可】

CC BY   
© 2013 by the authors; licensee MDPI, Basel, Switzerland.