Sensing Pressure Distribution on a Lower-Limb Exoskeleton Physical Human-Machine Interface
Identifieur interne : 003603 ( Main/Merge ); précédent : 003602; suivant : 003604Sensing Pressure Distribution on a Lower-Limb Exoskeleton Physical Human-Machine Interface
Auteurs : Stefano Marco Maria De Rossi ; Nicola Vitiello ; Tommaso Lenzi ; Renaud Ronsse ; Bram Koopman ; Alessandro Persichetti ; Fabrizio Vecchi ; Auke Jan Ijspeert ; Herman Van Der Kooij ; Maria Chiara CarrozzaSource :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2010.
Abstract
A sensory apparatus to monitor pressure distribution on the physical human-robot interface of lower-limb exoskeletons is presented. We propose a distributed measure of the interaction pressure over the whole contact area between the user and the machine as an alternative measurement method of human-robot interaction. To obtain this measure, an array of newly-developed soft silicone pressure sensors is inserted between the limb and the mechanical interface that connects the robot to the user, in direct contact with the wearer’s skin. Compared to state-of-the-art measures, the advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for the assessment of safety and comfort of human-robot interaction. This paper presents the new sensor and its characterization, and the development of an interaction measurement apparatus, which is applied to a lower-limb rehabilitation robot. The system is calibrated, and an example its use during a prototypical gait training task is presented.
Url:
DOI: 10.3390/s110100207
PubMed: 22346574
PubMed Central: 3274101
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Sensing Pressure Distribution on a Lower-Limb Exoskeleton Physical Human-Machine Interface</title><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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Ronsse, Renaud" sort="Ronsse, Renaud" uniqKey="Ronsse R" first="Renaud" last="Ronsse">Renaud Ronsse</name><affiliation><nlm:aff id="af2-sensors-11-00207"> Biorobotics Laboratory, Institute of Bioengineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), CH-1015, Lausanne, Switzerland; E-Mails:<email>renaud.ronsse@epfl.ch</email> (R.R);<email>auke.ijspeert@epfl.ch</email> (A.J.I.)</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="af3-sensors-11-00207"> Biomechanical Engineering Laboratory, Institute for Biomedical Technology and Technical Medicine (MIRA), University of Twente, 7500 EA Enschede, The Netherlands; E-Mails:<email>B.Koopman@ctw.utwente.nl</email> (B.K.);<email>h.vanderkooij@utwente.nl</email> (H.K.)</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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Vecchi, Fabrizio" sort="Vecchi, Fabrizio" uniqKey="Vecchi F" first="Fabrizio" last="Vecchi">Fabrizio Vecchi</name><affiliation><nlm:aff id="af1-sensors-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Ijspeert, Auke Jan" sort="Ijspeert, Auke Jan" uniqKey="Ijspeert A" first="Auke Jan" last="Ijspeert">Auke Jan Ijspeert</name><affiliation><nlm:aff id="af2-sensors-11-00207"> Biorobotics Laboratory, Institute of Bioengineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), CH-1015, Lausanne, Switzerland; E-Mails:<email>renaud.ronsse@epfl.ch</email> (R.R);<email>auke.ijspeert@epfl.ch</email> (A.J.I.)</nlm:aff></affiliation></author><author><name sortKey="Van Der Kooij, Herman" sort="Van Der Kooij, Herman" uniqKey="Van Der Kooij H" first="Herman" last="Van Der Kooij">Herman Van Der Kooij</name><affiliation><nlm:aff id="af3-sensors-11-00207"> Biomechanical Engineering Laboratory, Institute for Biomedical Technology and Technical Medicine (MIRA), University of Twente, 7500 EA Enschede, The Netherlands; E-Mails:<email>B.Koopman@ctw.utwente.nl</email> (B.K.);<email>h.vanderkooij@utwente.nl</email> (H.K.)</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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">22346574</idno><idno type="pmc">3274101</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3274101</idno><idno type="RBID">PMC:3274101</idno><idno type="doi">10.3390/s110100207</idno><date when="2010">2010</date><idno type="wicri:Area/Pmc/Corpus">002520</idno><idno type="wicri:Area/Pmc/Curation">002520</idno><idno type="wicri:Area/Pmc/Checkpoint">001D52</idno><idno type="wicri:Area/Ncbi/Merge">001E70</idno><idno type="wicri:Area/Ncbi/Curation">001E70</idno><idno type="wicri:Area/Ncbi/Checkpoint">001E70</idno><idno type="wicri:Area/Main/Merge">003603</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Sensing Pressure Distribution on a Lower-Limb Exoskeleton Physical Human-Machine Interface</title><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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Ronsse, Renaud" sort="Ronsse, Renaud" uniqKey="Ronsse R" first="Renaud" last="Ronsse">Renaud Ronsse</name><affiliation><nlm:aff id="af2-sensors-11-00207"> Biorobotics Laboratory, Institute of Bioengineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), CH-1015, Lausanne, Switzerland; E-Mails:<email>renaud.ronsse@epfl.ch</email> (R.R);<email>auke.ijspeert@epfl.ch</email> (A.J.I.)</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="af3-sensors-11-00207"> Biomechanical Engineering Laboratory, Institute for Biomedical Technology and Technical Medicine (MIRA), University of Twente, 7500 EA Enschede, The Netherlands; E-Mails:<email>B.Koopman@ctw.utwente.nl</email> (B.K.);<email>h.vanderkooij@utwente.nl</email> (H.K.)</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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Vecchi, Fabrizio" sort="Vecchi, Fabrizio" uniqKey="Vecchi F" first="Fabrizio" last="Vecchi">Fabrizio Vecchi</name><affiliation><nlm:aff id="af1-sensors-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<email>carrozza@sssup.it</email> (M.C.C.)</nlm:aff></affiliation></author><author><name sortKey="Ijspeert, Auke Jan" sort="Ijspeert, Auke Jan" uniqKey="Ijspeert A" first="Auke Jan" last="Ijspeert">Auke Jan Ijspeert</name><affiliation><nlm:aff id="af2-sensors-11-00207"> Biorobotics Laboratory, Institute of Bioengineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), CH-1015, Lausanne, Switzerland; E-Mails:<email>renaud.ronsse@epfl.ch</email> (R.R);<email>auke.ijspeert@epfl.ch</email> (A.J.I.)</nlm:aff></affiliation></author><author><name sortKey="Van Der Kooij, Herman" sort="Van Der Kooij, Herman" uniqKey="Van Der Kooij H" first="Herman" last="Van Der Kooij">Herman Van Der Kooij</name><affiliation><nlm:aff id="af3-sensors-11-00207"> Biomechanical Engineering Laboratory, Institute for Biomedical Technology and Technical Medicine (MIRA), University of Twente, 7500 EA Enschede, The Netherlands; E-Mails:<email>B.Koopman@ctw.utwente.nl</email> (B.K.);<email>h.vanderkooij@utwente.nl</email> (H.K.)</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-11-00207"> ARTS Lab, Scuola Superiore Sant’Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy; E-Mails:<email>n.vitiello@sssup.it</email> (N.V.);<email>t.lenzi@sssup.it</email> (T.L.);<email>a.persichetti@arts.sssup.it</email> (A.P.);<email>f.vecchi@sssup.it</email> (F.V.);<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="2010">2010</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>A sensory apparatus to monitor pressure distribution on the physical human-robot interface of lower-limb exoskeletons is presented. We propose a distributed measure of the interaction pressure over the whole contact area between the user and the machine as an alternative measurement method of human-robot interaction. To obtain this measure, an array of newly-developed soft silicone pressure sensors is inserted between the limb and the mechanical interface that connects the robot to the user, in direct contact with the wearer’s skin. Compared to state-of-the-art measures, the advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for the assessment of safety and comfort of human-robot interaction. This paper presents the new sensor and its characterization, and the development of an interaction measurement apparatus, which is applied to a lower-limb rehabilitation robot. The system is calibrated, and an example its use during a prototypical gait training task is presented.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Guizzo, E" uniqKey="Guizzo E">E. Guizzo</name></author><author><name sortKey="Goldstein, H" uniqKey="Goldstein H">H. Goldstein</name></author></analytic></biblStruct><biblStruct></biblStruct><biblStruct><analytic><author><name sortKey="Zoss, A B" uniqKey="Zoss A">A.B. Zoss</name></author><author><name sortKey="Kazerooni, H" uniqKey="Kazerooni H">H. Kazerooni</name></author><author><name sortKey="Chu, A" uniqKey="Chu A">A. Chu</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Suzuki, K" uniqKey="Suzuki K">K. Suzuki</name></author><author><name sortKey="Mito, G" uniqKey="Mito G">G. Mito</name></author><author><name sortKey="Kawamoto, H" uniqKey="Kawamoto H">H. Kawamoto</name></author><author><name sortKey="Hasegawa, Y" uniqKey="Hasegawa Y">Y. 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Veltink</name></author><author><name sortKey="Stramigioli, S" uniqKey="Stramigioli S">S. Stramigioli</name></author><author><name sortKey="Van Der Kooij, H" uniqKey="Van Der Kooij H">H. van der Kooij</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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