Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb

S.M.M. de Rossi; N. Vitiello; T. Lenzi; R. Ronsse; B. Koopman; A. Persichetti; F. Giovacchini; F. Vecchi; A.J. IJspeert; H. van der Kooij; M.C. Carrozza

doi:10.1109/IEMBS.2010.5626409

Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb

S.M.M. de Rossi, N. Vitiello, T. Lenzi, R. Ronsse, B. Koopman, A. Persichetti, F. Giovacchini, F. Vecchi, A.J. IJspeert, H. van der Kooij, M.C. Carrozza

Biomechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

21 Citations (Scopus)

53 Downloads (Pure)

Abstract

A new and alternative method to measure the interaction force between the user and a lower-limb gait rehabilitation exoskeleton is presented. Instead of using a load cell to measure the resulting interaction force, we propose a distributed measure of the normal interaction pressure over the whole contact area between the user and the machine. To obtain this measurement, a soft silicone tactile sensor is inserted between the limb and commonly used connection cuffs. The advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for rehabilitation therapy assessment purposes, or for control. Moreover, the proposed solution does not change the comfort of the interaction; can be applied to connection cuffs of different shapes and sizes; and can be manufactured at a low cost. Preliminary results during gait assistance tasks show that this approach can precisely detect changes in the pressure distribution during a gait cycle.

Original language	English
Title of host publication	2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Place of Publication	Piscataway, NJ
Publisher	IEEE
Pages	1279-1282
Number of pages	4
ISBN (Print)	978-1-4244-4123-5, 978-1-4244-4124-2 (CD)
DOIs	https://doi.org/10.1109/IEMBS.2010.5626409
Publication status	Published - 2010
Event	32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2010 - Buenos Aires, Argentina Duration: 31 Aug 2010 → 4 Sept 2010 Conference number: 32

Publication series

Name	Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC
Publisher	IEEE
Number	32
Volume	2010
ISSN (Print)	1094-687X
ISSN (Electronic)	1558-4615

Conference

Conference	32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2010
Abbreviated title	EMBC
Country/Territory	Argentina
City	Buenos Aires
Period	31/08/10 → 4/09/10

Keywords

2023 OA procedure

Access to Document

10.1109/IEMBS.2010.5626409

ArticleFinal published version, 1.58 MBLicence: Taverne

Cite this

de Rossi, S. M. M., Vitiello, N., Lenzi, T., Ronsse, R., Koopman, B., Persichetti, A., Giovacchini, F., Vecchi, F., IJspeert, A. J., van der Kooij, H., & Carrozza, M. C. (2010). Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb. In 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10 (pp. 1279-1282). Article 5626409 (Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC; Vol. 2010, No. 32). IEEE. https://doi.org/10.1109/IEMBS.2010.5626409

de Rossi, S.M.M. ; Vitiello, N. ; Lenzi, T. et al. / Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb. 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. Piscataway, NJ : IEEE, 2010. pp. 1279-1282 (Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC; 32).

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title = "Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb",

abstract = "A new and alternative method to measure the interaction force between the user and a lower-limb gait rehabilitation exoskeleton is presented. Instead of using a load cell to measure the resulting interaction force, we propose a distributed measure of the normal interaction pressure over the whole contact area between the user and the machine. To obtain this measurement, a soft silicone tactile sensor is inserted between the limb and commonly used connection cuffs. The advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for rehabilitation therapy assessment purposes, or for control. Moreover, the proposed solution does not change the comfort of the interaction; can be applied to connection cuffs of different shapes and sizes; and can be manufactured at a low cost. Preliminary results during gait assistance tasks show that this approach can precisely detect changes in the pressure distribution during a gait cycle.",

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de Rossi, SMM, Vitiello, N, Lenzi, T, Ronsse, R, Koopman, B, Persichetti, A, Giovacchini, F, Vecchi, F, IJspeert, AJ, van der Kooij, H & Carrozza, MC 2010, Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb. in 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10., 5626409, Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC, no. 32, vol. 2010, IEEE, Piscataway, NJ, pp. 1279-1282, 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2010, Buenos Aires, Argentina, 31/08/10. https://doi.org/10.1109/IEMBS.2010.5626409

Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb. / de Rossi, S.M.M.; Vitiello, N.; Lenzi, T. et al.
2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. Piscataway, NJ: IEEE, 2010. p. 1279-1282 5626409 (Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC; Vol. 2010, No. 32).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb

AU - de Rossi, S.M.M.

AU - Vitiello, N.

AU - Lenzi, T.

AU - Ronsse, R.

AU - Koopman, B.

AU - Persichetti, A.

AU - Giovacchini, F.

AU - Vecchi, F.

AU - IJspeert, A.J.

AU - van der Kooij, H.

AU - Carrozza, M.C.

N1 - Conference code: 32

PY - 2010

Y1 - 2010

N2 - A new and alternative method to measure the interaction force between the user and a lower-limb gait rehabilitation exoskeleton is presented. Instead of using a load cell to measure the resulting interaction force, we propose a distributed measure of the normal interaction pressure over the whole contact area between the user and the machine. To obtain this measurement, a soft silicone tactile sensor is inserted between the limb and commonly used connection cuffs. The advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for rehabilitation therapy assessment purposes, or for control. Moreover, the proposed solution does not change the comfort of the interaction; can be applied to connection cuffs of different shapes and sizes; and can be manufactured at a low cost. Preliminary results during gait assistance tasks show that this approach can precisely detect changes in the pressure distribution during a gait cycle.

AB - A new and alternative method to measure the interaction force between the user and a lower-limb gait rehabilitation exoskeleton is presented. Instead of using a load cell to measure the resulting interaction force, we propose a distributed measure of the normal interaction pressure over the whole contact area between the user and the machine. To obtain this measurement, a soft silicone tactile sensor is inserted between the limb and commonly used connection cuffs. The advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for rehabilitation therapy assessment purposes, or for control. Moreover, the proposed solution does not change the comfort of the interaction; can be applied to connection cuffs of different shapes and sizes; and can be manufactured at a low cost. Preliminary results during gait assistance tasks show that this approach can precisely detect changes in the pressure distribution during a gait cycle.

KW - 2023 OA procedure

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M3 - Conference contribution

C2 - 21095918

SN - 978-1-4244-4123-5

SN - 978-1-4244-4124-2 (CD)

T3 - Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC

SP - 1279

EP - 1282

BT - 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10

PB - IEEE

CY - Piscataway, NJ

T2 - 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2010

Y2 - 31 August 2010 through 4 September 2010

ER -

de Rossi SMM, Vitiello N, Lenzi T, Ronsse R, Koopman B, Persichetti A et al. Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb. In 2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10. Piscataway, NJ: IEEE. 2010. p. 1279-1282. 5626409. (Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC; 32). doi: 10.1109/IEMBS.2010.5626409

Soft artificial tactile sensors for the measurement of human-robot interaction in the rehabilitation of the lower limb

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