Basla, C., Georgarakis, A.-M., Reichmuth, M., Chen, H. , Wolf, P., Lacour, S., Riener, R. and Xiloyannis, M. (2022) A Stretchable Sensor for Force Estimation in Soft Wearable Robots. In: 17th International Conference on Rehabilitation Robotics (ICORR 2022), Rotterdam, Netherlands, 25-29 July 2022, ISBN 9781665488303 (doi: 10.1109/icorr55369.2022.9896479)
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Abstract
Soft wearable robots to assist human movements, such as exosuits, have rapidly gained attention thanks to their compliance, low weight and accessibility. However, force measurement in exosuits still rely on load cells and rigid sensors that are not wearable or unsuitable for applications outside the lab. Soft, stretchable and lightweight sensors that become invisible when integrated in an exosuit and perfectly conform to the human body represent a promising alternative. In this work, we developed a wearable sensing system based on a soft stretchable silicone-based strain gauge to measure the forces acting in the passive elastic elements of an exosuit. To measure sensor’s accuracy, two unimpaired participants walked on a treadmill at speeds between 0.9 and 2.1 ms−1. When comparing our solution to a state-of-the-art motion capture system, we found an average root mean square error in force estimation of 12.5% and a standard deviation of 7.4%. Furthermore, we showed the portability of our sensory system by monitoring the forces exerted by the wearable robot during outdoor walking. Our study shows the potential of using stretchable sensors to monitor walking patterns in studies outside the lab and to control human-robot interaction.
| Item Type: | Conference Proceedings |
|---|---|
| Additional Information: | This work was supported by the Swiss National Center of Competence in Research (NCCR) Robotics. |
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | Chen, Dr Haotian |
| Authors: | Basla, C., Georgarakis, A.-M., Reichmuth, M., Chen, H., Wolf, P., Lacour, S., Riener, R., and Xiloyannis, M. |
| College/School: | College of Science and Engineering > School of Engineering > Biomedical Engineering |
| Journal Name: | 2022 International Conference on Rehabilitation Robotics (ICORR) |
| Publisher: | IEEE |
| ISSN: | 1945-7898 |
| ISBN: | 9781665488303 |
| Related URLs: |
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