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

Content Provider	IEEE Xplore Digital Library
Author	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.
Copyright Year	2010
Description	Author affiliation: Biomechanical Engineering Laboratory, Institute for Biomedical Technology and Technical Medicine (MIRA), University of Twente, 7500 EA Enschede, The Netherlands (Koopman, B.; van der Kooij, H.) \|\| ARTS Lab, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy (De Rossi, S.M.M.; Vitiello, N.; Lenzi, T.; Persichetti, A.; Giovacchini, F.; Vecchi, F.; Carrozza, M.C.) \|\| Biorobotics Laboratory, Institute of Bioengineering, Ecole Polytechnique Fédérale de Lausanne (EPFL), CH-1015, Switzerland (Ronsse, R.; Ijspeert, A.J.)
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.
Starting Page	1279
Ending Page	1282
File Size	1646949
Page Count	4
File Format	PDF
ISBN	9781424441235
ISSN	1557170X
DOI	10.1109/IEMBS.2010.5626409
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-08-31
Publisher Place	Argentina
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Exoskeletons Belts Force Leg Pressure measurement
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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