title: A flexible sensor technology for the distributed measurement of interaction pressure.
abstract: We present a sensor technology for the measure of the physical human-robot interaction pressure developed in the last years at Scuola Superiore Sant'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'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.
authors: The BioRobotics Institute, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025 Pontedera (PI), Italy. m.donati@sssup.it
authors: Marco
authors: M
authors: Donati
authors: Nicola
authors: N
authors: Vitiello
authors: Stefano Marco Maria
authors: SM
authors: De Rossi
authors: Tommaso
authors: T
authors: Lenzi
authors: Simona
authors: S
authors: Crea
authors: Alessandro
authors: A
authors: Persichetti
authors: Francesco
authors: F
authors: Giovacchini
authors: Bram
authors: B
authors: Koopman
authors: Janez
authors: J
authors: Podobnik
authors: Marko
authors: M
authors: Munih
authors: Maria Chiara
authors: MC
authors: Carrozza
mesh_terms: D001186:Artificial Limbs; D001696:Biomechanical Phenomena / Q000502:physiology; D004550:Elbow / Q000502:physiology; D005684:Gait / Q000502:physiology; D006615:Hip / Q000502:physiology; D006801:Humans; D008328:Man-Machine Systems; D018583:Pliability; D011312:Pressure; D012371:Robotics / Q000295:instrumentation* / Q000379:methods*