A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure
Identifieur interne : 001E46 ( Main/Merge ); précédent : 001E45; suivant : 001E47A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure
Auteurs : Marco Donati ; Nicola Vitiello ; Stefano Marco Maria De Rossi ; Tommaso Lenzi ; Simona Crea ; Alessandro Persichetti ; Francesco Giovacchini ; Bram Koopman ; Janez Podobnik ; Marko Munih ; Maria Chiara CarrozzaSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2013.
Abstract
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.
Url:
DOI: 10.3390/s130101021
PubMed: 23322104
PubMed Central: 3574719
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure</title><author><name sortKey="Donati, Marco" sort="Donati, Marco" uniqKey="Donati M" first="Marco" last="Donati">Marco Donati</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Vitiello, Nicola" sort="Vitiello, Nicola" uniqKey="Vitiello N" first="Nicola" last="Vitiello">Nicola Vitiello</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="De Rossi, Stefano Marco Maria" sort="De Rossi, Stefano Marco Maria" uniqKey="De Rossi S" first="Stefano Marco Maria" last="De Rossi">Stefano Marco Maria De Rossi</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Lenzi, Tommaso" sort="Lenzi, Tommaso" uniqKey="Lenzi T" first="Tommaso" last="Lenzi">Tommaso Lenzi</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Crea, Simona" sort="Crea, Simona" uniqKey="Crea S" first="Simona" last="Crea">Simona Crea</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Persichetti, Alessandro" sort="Persichetti, Alessandro" uniqKey="Persichetti A" first="Alessandro" last="Persichetti">Alessandro Persichetti</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Giovacchini, Francesco" sort="Giovacchini, Francesco" uniqKey="Giovacchini F" first="Francesco" last="Giovacchini">Francesco Giovacchini</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Koopman, Bram" sort="Koopman, Bram" uniqKey="Koopman B" first="Bram" last="Koopman">Bram Koopman</name><affiliation><nlm:aff id="af2-sensors-13-01021"> Biomechanical Engineering Laboratory, Institute for Biomedical Technology and Technical Medicine (MIRA), University of Twente, 7500 EA Enschede, The Netherlands; E-Mail:<email>b.koopman@ctw.utwente.nl</email></nlm:aff></affiliation></author><author><name sortKey="Podobnik, Janez" sort="Podobnik, Janez" uniqKey="Podobnik J" first="Janez" last="Podobnik">Janez Podobnik</name><affiliation><nlm:aff id="af3-sensors-13-01021"> Laboratory of Robotics, University of Ljubljana, SI-1000 Ljubljana, Slovenia; E-Mails:<email>janez.podobnik@robo.fe.uni-lj.si</email> (J.P.);<email>marko.munih@robo.fe.uni-lj.si</email> (M.M.)</nlm:aff></affiliation></author><author><name sortKey="Munih, Marko" sort="Munih, Marko" uniqKey="Munih M" first="Marko" last="Munih">Marko Munih</name><affiliation><nlm:aff id="af3-sensors-13-01021"> Laboratory of Robotics, University of Ljubljana, SI-1000 Ljubljana, Slovenia; E-Mails:<email>janez.podobnik@robo.fe.uni-lj.si</email> (J.P.);<email>marko.munih@robo.fe.uni-lj.si</email> (M.M.)</nlm:aff></affiliation></author><author><name sortKey="Carrozza, Maria Chiara" sort="Carrozza, Maria Chiara" uniqKey="Carrozza M" first="Maria Chiara" last="Carrozza">Maria Chiara Carrozza</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">23322104</idno><idno type="pmc">3574719</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3574719</idno><idno type="RBID">PMC:3574719</idno><idno type="doi">10.3390/s130101021</idno><date when="2013">2013</date><idno type="wicri:Area/Pmc/Corpus">002812</idno><idno type="wicri:Area/Pmc/Curation">002812</idno><idno type="wicri:Area/Pmc/Checkpoint">001458</idno><idno type="wicri:Area/Ncbi/Merge">002434</idno><idno type="wicri:Area/Ncbi/Curation">002434</idno><idno type="wicri:Area/Ncbi/Checkpoint">002434</idno><idno type="wicri:Area/Main/Merge">001E46</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure</title><author><name sortKey="Donati, Marco" sort="Donati, Marco" uniqKey="Donati M" first="Marco" last="Donati">Marco Donati</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Vitiello, Nicola" sort="Vitiello, Nicola" uniqKey="Vitiello N" first="Nicola" last="Vitiello">Nicola Vitiello</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="De Rossi, Stefano Marco Maria" sort="De Rossi, Stefano Marco Maria" uniqKey="De Rossi S" first="Stefano Marco Maria" last="De Rossi">Stefano Marco Maria De Rossi</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Lenzi, Tommaso" sort="Lenzi, Tommaso" uniqKey="Lenzi T" first="Tommaso" last="Lenzi">Tommaso Lenzi</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Crea, Simona" sort="Crea, Simona" uniqKey="Crea S" first="Simona" last="Crea">Simona Crea</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Persichetti, Alessandro" sort="Persichetti, Alessandro" uniqKey="Persichetti A" first="Alessandro" last="Persichetti">Alessandro Persichetti</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Giovacchini, Francesco" sort="Giovacchini, Francesco" uniqKey="Giovacchini F" first="Francesco" last="Giovacchini">Francesco Giovacchini</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Koopman, Bram" sort="Koopman, Bram" uniqKey="Koopman B" first="Bram" last="Koopman">Bram Koopman</name><affiliation><nlm:aff id="af2-sensors-13-01021"> Biomechanical Engineering Laboratory, Institute for Biomedical Technology and Technical Medicine (MIRA), University of Twente, 7500 EA Enschede, The Netherlands; E-Mail:<email>b.koopman@ctw.utwente.nl</email></nlm:aff></affiliation></author><author><name sortKey="Podobnik, Janez" sort="Podobnik, Janez" uniqKey="Podobnik J" first="Janez" last="Podobnik">Janez Podobnik</name><affiliation><nlm:aff id="af3-sensors-13-01021"> Laboratory of Robotics, University of Ljubljana, SI-1000 Ljubljana, Slovenia; E-Mails:<email>janez.podobnik@robo.fe.uni-lj.si</email> (J.P.);<email>marko.munih@robo.fe.uni-lj.si</email> (M.M.)</nlm:aff></affiliation></author><author><name sortKey="Munih, Marko" sort="Munih, Marko" uniqKey="Munih M" first="Marko" last="Munih">Marko Munih</name><affiliation><nlm:aff id="af3-sensors-13-01021"> Laboratory of Robotics, University of Ljubljana, SI-1000 Ljubljana, Slovenia; E-Mails:<email>janez.podobnik@robo.fe.uni-lj.si</email> (J.P.);<email>marko.munih@robo.fe.uni-lj.si</email> (M.M.)</nlm:aff></affiliation></author><author><name sortKey="Carrozza, Maria Chiara" sort="Carrozza, Maria Chiara" uniqKey="Carrozza M" first="Maria Chiara" last="Carrozza">Maria Chiara Carrozza</name><affiliation><nlm:aff id="af1-sensors-13-01021"> The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>s.derossi@sssup.it</email> (S.M.M.D.R.);<email>t.lenzi@sssup.it</email> (T.L.);<email>s.crea@sssup.it</email> (S.C.);<email>a.persichetti@sssup.it</email> (A.P.);<email>f.giovacchini@sssup.it</email> (F.G.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2013">2013</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>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.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Turchetti, B G" uniqKey="Turchetti B">B.G. Turchetti</name></author><author><name sortKey="Micera, S" uniqKey="Micera S">S. Micera</name></author><author><name sortKey="Cavallo, F" uniqKey="Cavallo F">F. Cavallo</name></author><author><name sortKey="Odetti, L" uniqKey="Odetti L">L. Odetti</name></author><author><name sortKey="Dario, P" uniqKey="Dario P">P. Dario</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Leven, J" uniqKey="Leven J">J. Leven</name></author><author><name sortKey="Burschka, D" uniqKey="Burschka D">D. Burschka</name></author><author><name sortKey="Kumar, R" uniqKey="Kumar R">R. Kumar</name></author><author><name sortKey="Zhang, G" uniqKey="Zhang G">G. Zhang</name></author><author><name sortKey="Blumenkranz, S" uniqKey="Blumenkranz S">S. 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Ijspeert</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Crea, S" uniqKey="Crea S">S. Crea</name></author><author><name sortKey="Vitiello, N" uniqKey="Vitiello N">N. Vitiello</name></author><author><name sortKey="De Rossi, S M M" uniqKey="De Rossi S">S.M. M. De Rossi</name></author><author><name sortKey="Lenzi, T" uniqKey="Lenzi T">T. Lenzi</name></author><author><name sortKey="Donati, M" uniqKey="Donati M">M. Donati</name></author><author><name sortKey="Cipriani, C" uniqKey="Cipriani C">C. Cipriani</name></author><author><name sortKey="Carrozza, M C" uniqKey="Carrozza M">M.C. Carrozza</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Harada, T" uniqKey="Harada T">T. Harada</name></author><author><name sortKey="Sato, T" uniqKey="Sato T">T. Sato</name></author><author><name sortKey="Mori, T" uniqKey="Mori T">T. Mori</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Fallang, B" uniqKey="Fallang B">B. Fallang</name></author><author><name sortKey="Saugstad, O D" uniqKey="Saugstad O">O.D. Saugstad</name></author><author><name sortKey="Hadders Algra, M" uniqKey="Hadders Algra M">M. Hadders-Algra</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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