A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure

作者：Donati Marco^*; Vitiello Nicola; De Rossi Stefano Marco Maria; Lenzi Tommaso; Crea Simona; Persichetti Alessandro; Giovacchini Francesco; Koopman Bram; Podobnik Janez; Munih Marko; Carrozza Maria Chiara

来源：Sensors (Switzerland), 2013, 13(1): 1021-1045.

DOI：10.3390/s130101021

• distributed force sensor
• wearable robotics
• physical human-robot interaction
• pressure-sensitive insole

We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant%26apos;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%26apos;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.

• 出版日期2013-1