A Modular Design for Distributed Measurement of Human–Robot Interaction Forces in Wearable Devices
Measurement of interaction forces distributed across the attachment interface in wearable devices is critical for understanding ergonomic physical human–robot interaction (pHRI). The main challenges in sensorization of pHRI interfaces are (i) capturing the fine nature of force transmission from comp...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2021-02-01
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| Series: | Sensors |
| Subjects: | |
| Online Access: | https://www.mdpi.com/1424-8220/21/4/1445 |
| _version_ | 1797395988267139072 |
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| author | Keya Ghonasgi Saad N. Yousaf Paria Esmatloo Ashish D. Deshpande |
| author_facet | Keya Ghonasgi Saad N. Yousaf Paria Esmatloo Ashish D. Deshpande |
| author_sort | Keya Ghonasgi |
| collection | DOAJ |
| description | Measurement of interaction forces distributed across the attachment interface in wearable devices is critical for understanding ergonomic physical human–robot interaction (pHRI). The main challenges in sensorization of pHRI interfaces are (i) capturing the fine nature of force transmission from compliant human tissue onto rigid surfaces in the wearable device and (ii) utilizing a low-cost and easily implementable design that can be adapted for a variety of human interfaces. This paper addresses both challenges and presents a modular sensing panel that uses force-sensing resistors (FSRs) combined with robust electrical and mechanical integration principles that result in a reliable solution for distributed load measurement. The design is demonstrated through an upper-arm cuff, which uses 24 sensing panels, in conjunction with the Harmony exoskeleton. Validation of the design with controlled loading of the sensorized cuff proves the viability of FSRs in an interface sensing solution. Preliminary experiments with a human subject highlight the value of distributed interface force measurement in recognizing the factors that influence ergonomic pHRI and elucidating their effects. The modular design and low cost of the sensing panel lend themselves to extension of this approach for studying ergonomics in a variety of wearable applications with the goal of achieving safe, comfortable, and effective human–robot interaction. |
| first_indexed | 2024-03-09T00:43:48Z |
| format | Article |
| id | doaj.art-84d720ff26d546cd93b2d907ecf5a594 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-03-09T00:43:48Z |
| publishDate | 2021-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-84d720ff26d546cd93b2d907ecf5a5942023-12-11T17:38:26ZengMDPI AGSensors1424-82202021-02-01214144510.3390/s21041445A Modular Design for Distributed Measurement of Human–Robot Interaction Forces in Wearable DevicesKeya Ghonasgi0Saad N. Yousaf1Paria Esmatloo2Ashish D. Deshpande3Rehabilitation and Neuromuscular Robotics Lab, The University of Texas at Austin, Austin, TX 78712, USARehabilitation and Neuromuscular Robotics Lab, The University of Texas at Austin, Austin, TX 78712, USARehabilitation and Neuromuscular Robotics Lab, The University of Texas at Austin, Austin, TX 78712, USARehabilitation and Neuromuscular Robotics Lab, The University of Texas at Austin, Austin, TX 78712, USAMeasurement of interaction forces distributed across the attachment interface in wearable devices is critical for understanding ergonomic physical human–robot interaction (pHRI). The main challenges in sensorization of pHRI interfaces are (i) capturing the fine nature of force transmission from compliant human tissue onto rigid surfaces in the wearable device and (ii) utilizing a low-cost and easily implementable design that can be adapted for a variety of human interfaces. This paper addresses both challenges and presents a modular sensing panel that uses force-sensing resistors (FSRs) combined with robust electrical and mechanical integration principles that result in a reliable solution for distributed load measurement. The design is demonstrated through an upper-arm cuff, which uses 24 sensing panels, in conjunction with the Harmony exoskeleton. Validation of the design with controlled loading of the sensorized cuff proves the viability of FSRs in an interface sensing solution. Preliminary experiments with a human subject highlight the value of distributed interface force measurement in recognizing the factors that influence ergonomic pHRI and elucidating their effects. The modular design and low cost of the sensing panel lend themselves to extension of this approach for studying ergonomics in a variety of wearable applications with the goal of achieving safe, comfortable, and effective human–robot interaction.https://www.mdpi.com/1424-8220/21/4/1445physical human robot interactionexoskeleton attachment designforce sensing |
| spellingShingle | Keya Ghonasgi Saad N. Yousaf Paria Esmatloo Ashish D. Deshpande A Modular Design for Distributed Measurement of Human–Robot Interaction Forces in Wearable Devices Sensors physical human robot interaction exoskeleton attachment design force sensing |
| title | A Modular Design for Distributed Measurement of Human–Robot Interaction Forces in Wearable Devices |
| title_full | A Modular Design for Distributed Measurement of Human–Robot Interaction Forces in Wearable Devices |
| title_fullStr | A Modular Design for Distributed Measurement of Human–Robot Interaction Forces in Wearable Devices |
| title_full_unstemmed | A Modular Design for Distributed Measurement of Human–Robot Interaction Forces in Wearable Devices |
| title_short | A Modular Design for Distributed Measurement of Human–Robot Interaction Forces in Wearable Devices |
| title_sort | modular design for distributed measurement of human robot interaction forces in wearable devices |
| topic | physical human robot interaction exoskeleton attachment design force sensing |
| url | https://www.mdpi.com/1424-8220/21/4/1445 |
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