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

Research output: Chapter in Book/Report/Conference proceedingConference contributionAcademicpeer-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 languageEnglish
Title of host publication2010 Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC'10
Place of PublicationPiscataway, NJ
PublisherIEEE
Pages1279-1282
Number of pages4
ISBN (Print)978-1-4244-4123-5, 978-1-4244-4124-2 (CD)
DOIs
Publication statusPublished - 2010
Event32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2010 - Buenos Aires, Argentina
Duration: 31 Aug 20104 Sept 2010
Conference number: 32

Publication series

NameAnnual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC
PublisherIEEE
Number32
Volume2010
ISSN (Print)1094-687X
ISSN (Electronic)1558-4615

Conference

Conference32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2010
Abbreviated titleEMBC
Country/TerritoryArgentina
CityBuenos Aires
Period31/08/104/09/10

Keywords

  • 2023 OA procedure

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