De Rossi S M M, Vitiello N, Lenzi T, Ronsse R, Koopman B, Persichetti A, Giovacchini F, Vecchi F, Ijspeert A J, van der Kooij H, Carrozza M C
ARTS Lab, Scuola Superiore Sant'Anna, viale Rinaldo Piaggio 34, 56025, Pontedera (Pi), Italy.
Annu Int Conf IEEE Eng Med Biol Soc. 2010;2010:1279-82. doi: 10.1109/IEMBS.2010.5626409.
A new and alternative method to measure the interaction force between the user and a lower-limb gait rehabilitation exoskeleton is presented. Instead of using a load cell to measure the resulting interaction force, we propose a distributed measure of the normal interaction pressure over the whole contact area between the user and the machine. To obtain this measurement, a soft silicone tactile sensor is inserted between the limb and commonly used connection cuffs. The advantage of this approach is that it allows for a distributed measure of the interaction pressure, which could be useful for rehabilitation therapy assessment purposes, or for control. Moreover, the proposed solution does not change the comfort of the interaction; can be applied to connection cuffs of different shapes and sizes; and can be manufactured at a low cost. Preliminary results during gait assistance tasks show that this approach can precisely detect changes in the pressure distribution during a gait cycle.
本文提出了一种测量用户与下肢步态康复外骨骼之间相互作用力的全新替代方法。我们不再使用测力传感器来测量产生的相互作用力，而是建议对用户与机器之间整个接触区域的法向相互作用压力进行分布式测量。为了获得这种测量结果，在肢体与常用连接袖带之间插入了一个柔软的硅胶触觉传感器。这种方法的优点是它允许对相互作用压力进行分布式测量，这对于康复治疗评估或控制可能是有用的。此外，所提出的解决方案不会改变相互作用的舒适度；可以应用于不同形状和尺寸的连接袖带；并且可以低成本制造。步态辅助任务期间的初步结果表明，这种方法可以精确检测步态周期中压力分布的变化。
