A flexible sensor technology for the distributed measurement of interaction pressure

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

A compact robotic device for upper-limb reaching rehabilitation

This paper presents a compact linear-motion robotic device for upper-extremity reaching rehabilitation. Starting from conceptual design, the paper describes electronic circuit design and program development. The work develops a prototype that provides active and passive rehabilitation training. In active training, subjects actively move their arm with assistive or resistive force from the device to finish predefined displacement and force profiles. In passive training, subjects remain passive while the device moves the limb following the pre-defined displacement profile. Engineering specifications with adequate safety factor are determined and standard electronic and readily available mechanical components are exploited to keep the total cost low

Master of Science

thesisHuman motion capture has a wide variety of applications in the entertainment and medical industries. Actors using motion capture devices provide realistic motion inputs for cartoons, virtual reality environments™, and computer and robot animation, resulting in tremendous time and cost savings. Medical applications include range of motion studies to diagnose injuries or identify insurance fraud, biomechanics studies of human performance and calculation of joint stresses, and ergonomics studies of humans in the workplace. There are common problems facing all methods of motion capture: how to attach the device to the individual's limbs, what sensors to use and how to use them, how to transmit data and convert it into a usable form, calibration of the device, data display, user comfort, and device reliability. Even when these problems are addressed, there are limitations in the kinematic model as well as human joint anomalies that make all methods imperfect. Currently, there are optical, magnetic, and exoskeletal devices for motion capture that vary widely in terms of performance, cost and limitations. Considering the likely environment and performance needs of the Sarcos Research Corporation, the SenSuit™ was built as an exoskeletal device. Creation of the SenSuit™ involved overcoming three major hurdles: the soft tissue interface, accurate joint angle measurement, and sensor design. The soft tissue interface is the series of rigid plates that are placed on skeletal landmarks located near the surface of the user's skin. Through appropriate location of the plates, a consistent, stable fit to the skeleton was achieved for users, which enhanced joint angle data. Accurate joint angle measurements were achieved either by aligning sensor rotation centers with approximate joint rotation centers or by computationally transforming the outputs of three degree of freedom sensor clusters located to reduce nonlinearities. A software routine allowed for quick, linear calibration of the individual. Joint angle sensors were designed that were small, linear, robust, and resistant to wear and contaminants. The SenSuit™ has proven itself both comfortable and reliable. It has been thoroughly tested in real-world applications, including real-time driving of graphical and robotic figures, as well as the programming of various robotic figures

Tremor Control Devices for Essential Tremor: A Systematic Literature Review

Background: There is a growing interest in nonpharmacological approaches for essential tremor (ET), including tremor cancelation devices. However, the true efficacy of such devices in ET remains unclear. Methods: A systematic literature review was conducted using standardized criteria regarding efficacy and comfortability. Devices focused on design or experimental testing in which tremor was simulated in a robot were excluded. Results: Out of 324 articles initially identified, 12 articles were included. Orthoses using biomechanical loading and neuromodulation with electrical stimulation, and external tremor cancelation devices, were the main interventions used to suppress tremor. All devices were designed to control tremor of the upper limbs at different anatomical locations. Overall, an average tremor attenuation of 50–98% was reported (level of evidence III). Interference with voluntary movements and portability was described as the main drawback. Discussion: In conclusion, this review highlights the growing interest in emerging tremor control devices and the importance of assessing comfort without affecting voluntary movements. However, the level of evidence regarding the efficacy of these tremor control devices remains low. An integrated multidisciplinary combination approach of engineering, robotics, physiology, physiotherapy, and clinical assessment is needed to improve the quality of non-pharmacological interventions for ET