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

The effects on biomechanics of walking and balance recovery in a novel pelvis exoskeleton during zero-torque control

Fall-related accidents are among the most serious concerns in elderly people, amputees and subjects with neurological disorders. The aim of this paper was to investigate the behaviour of healthy subjects wearing a novel light-weight pelvis exoskeleton controlled in zero-torque mode while carrying out unperturbed locomotion and managing unexpected perturbations. Results showed that the proposed exoskeleton was unobtrusive and had a minimum loading effect on the human biomechanics during unperturbed locomotion. Conversely, it affected the movement of the trailing leg while subjects managed unexpected slipping-like perturbations. These findings support further investigations on the potential use of powered exoskeletons to assist locomotion and, possibly prevent incipient fall

NEWS AND NOTES 1994, VOL.4, NO.16

https://digitalcommons.rockefeller.edu/news_and_notes_1994/1002/thumbnail.jp

Artificial Roughness Encoding with a Bio-inspired MEMS- based Tactile Sensor Array

A compliant 2×2 tactile sensor array was developed and investigated for roughness encoding. State of the art cross shape 3D MEMS sensors were integrated with polymeric packaging providing in total 16 sensitive elements to external mechanical stimuli in an area of about 20 mm2, similarly to the SA1 innervation density in humans. Experimental analysis of the bio-inspired tactile sensor array was performed by using ridged surfaces, with spatial periods from 2.6 mm to 4.1 mm, which were indented with regulated 1N normal force and stroked at constant sliding velocity from 15 mm/s to 48 mm/s. A repeatable and expected frequency shift of the sensor outputs depending on the applied stimulus and on its scanning velocity was observed between 3.66 Hz and 18.46 Hz with an overall maximum error of 1.7%. The tactile sensor could also perform contact imaging during static stimulus indentation. The experiments demonstrated the suitability of this approach for the design of a roughness encoding tactile sensor for an artificial fingerpad

Progetto di un dispositivo per l'automazione dell'imballaggio di prodotti industriali.

Questa tesi riguarda la progettazione di un dispositivo per l’automatizzazione del processo di imballaggio di blocchi di colla solida all’interno di uno specifico contenitore in plastica denominato Transpac. Il progetto è stato realizzato sulla base di una specifica richiesta dell’azienda National Starch & Chemical di Mezzago (MI), specializzata nella produzione di varie tipologie di colla. Con l’automatizzazione l’azienda mira a superare i problemi connessi con il processo di riempimento manuale che comporta un elevato sforzo all’operatore (il quale deve eseguire operazioni ripetute scarsamente ergonomiche), ed inoltre punta ad aumentare la potenzialità dell’impianto di imballaggio. Dopo una prima fase nella quale si è individuata una modalità di riempimento automatizzata che consentisse il raggiungimento del quantitativo minimo di colla imballata, si è passati alla fase di progettazione effettiva degli elementi del dispositivo, alla scelta dei componenti commerciali necessari alla sua realizzazione, ed alla determinazione dei sensori necessari alla messa in atto del ciclo automatico di riempimento. Si è inoltre progettata la parte terminale del sistema di trasporto dei blocchi di colla verso il dispositivo ed in particolare sono stati individuati alcuni modi per orientare e singolarizzare i blocchi di colla