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Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device

Human–robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more...

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Autores principales: Grosu, Victor, Grosu, Svetlana, Vanderborght, Bram, Lefeber, Dirk, Rodriguez-Guerrero, Carlos
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2017
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5491983/
https://www.ncbi.nlm.nih.gov/pubmed/28587252
http://dx.doi.org/10.3390/s17061294
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author Grosu, Victor
Grosu, Svetlana
Vanderborght, Bram
Lefeber, Dirk
Rodriguez-Guerrero, Carlos
author_facet Grosu, Victor
Grosu, Svetlana
Vanderborght, Bram
Lefeber, Dirk
Rodriguez-Guerrero, Carlos
author_sort Grosu, Victor
collection PubMed
description Human–robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control.
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spelling pubmed-54919832017-07-03 Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device Grosu, Victor Grosu, Svetlana Vanderborght, Bram Lefeber, Dirk Rodriguez-Guerrero, Carlos Sensors (Basel) Article Human–robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control. MDPI 2017-06-05 /pmc/articles/PMC5491983/ /pubmed/28587252 http://dx.doi.org/10.3390/s17061294 Text en © 2017 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Grosu, Victor
Grosu, Svetlana
Vanderborght, Bram
Lefeber, Dirk
Rodriguez-Guerrero, Carlos
Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device
title Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device
title_full Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device
title_fullStr Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device
title_full_unstemmed Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device
title_short Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device
title_sort multi-axis force sensor for human–robot interaction sensing in a rehabilitation robotic device
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5491983/
https://www.ncbi.nlm.nih.gov/pubmed/28587252
http://dx.doi.org/10.3390/s17061294
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