Measuring human-robot interaction on wearable robots: A distributed approach
Measuring human-robot interaction on wearable robots: A distributed approach
复制标题
DOI：
10.1016/j.mechatronics.2011.04.003
复制
发表时间：
2011-09-01
期刊：
影响因子：
3.3
通讯作者：
Carrozza, Maria Chiara
中科院分区：
文献类型：
--
作者：
Lenzi, Tommaso;Vitiello, Nicola;Carrozza, Maria Chiara
本文提出了一种新的分布式方法来监测用户和可穿戴机器人之间的物理交互。我们建议将光电传感器矩阵嵌入到用户-机器人接触表面上的薄且顺从的硅块中。这种分布式触觉传感器可以测量交互区域上的压力分布，而不会影响用户的舒适度，并且不需要机器人专门设计来容纳它。除了估计交互力/扭矩之外，分布式方法允许监测用户皮肤上的压力。这些信息对于评估用户的舒适性和安全性至关重要，这些信息决定了机器人介导的康复的最终可接受性。所提出的方法进行了初步评估肘主动矫形器在重复的康复任务。实验结果证明了这种方法的相关性，通过测量的相互作用力分布的用户运动意图的检测。(C)2011爱思唯尔有限公司保留所有权利。
This paper presents a novel, distributed approach to monitor physical interaction between a user and a wearable robot. We propose to apply a matrix of optoelectronic sensors embedded in a thin and compliant silicone bulk onto the user-robot contact surface. This distributed tactile sensor can measure the pressure distribution on the interaction area without affecting the comfort of the user, and does not require the robot to be specifically designed to house it. Besides the estimation of the interaction force/torque, the distributed approach allows to monitor the pressure on the user's skin. This information is fundamental to assess the comfort and safety of the users which determine the final acceptability of the robot-mediated rehabilitation. The proposed method is preliminary evaluated on an elbow active orthosis during a repetitive rehabilitation task. Experimental results prove the relevance of this approach for the detection of the user motion intention through a measurement of the interaction force distribution. (C) 2011 Elsevier Ltd. All rights reserved.