This project aims the integration of a novel human-machine interface, based on a six axes force sensor, on the existing upper arm exoskeleton BRIDGE, able to detect the motion intention of a dystrophic patient and allowing to drive the end-effector (i.e., hand) in the most natural way. For this purpose, two principal aspects have been considered and developed: i) hardware and software integration of the force sensor on the exoskeleton; ii) development of algorithms able to analyse measured force data and drive the end-effector in the correct direction. Experiments on both health and impaired subjects were conducted, demonstrating effective the use of a force sensor for the task of this project and showing the correct behaviour of the developed algorithms.
Il progetto consiste nell’integrare una nuova interfaccia uomo-macchina, basata su un sensore di forza a sei assi, sull’esistente esoscheletro per arto superiore BRIDGE, allo scopo di prevedere l’intenzione di moto di un paziente distrofico e permettergli di guidare l’end-effector (i.e., mano) nel modo più naturale possibile. A tale scopo, due aspetti principali sono stati considerati e sviluppati: i) integrazione hardware e software del sensore di forza all’esoscheletro; ii) sviluppo di algoritmi in grado di analizzare i dati di forza misurati e guidare l’end-effector nella direzione corretta. Esperimenti sia su pazienti sani che distrofici sono stati eseguiti, dimostrando efficace l’uso di un sensore di forza per lo scopo di questo progetto e mostrando il buon funzionamento degli algoritmi implementati.
A novel force sensor based interface for the control of a motorized upper limb exoskeleton
PIROVANO, DAVIDE ENEA
2020/2021
Abstract
This project aims the integration of a novel human-machine interface, based on a six axes force sensor, on the existing upper arm exoskeleton BRIDGE, able to detect the motion intention of a dystrophic patient and allowing to drive the end-effector (i.e., hand) in the most natural way. For this purpose, two principal aspects have been considered and developed: i) hardware and software integration of the force sensor on the exoskeleton; ii) development of algorithms able to analyse measured force data and drive the end-effector in the correct direction. Experiments on both health and impaired subjects were conducted, demonstrating effective the use of a force sensor for the task of this project and showing the correct behaviour of the developed algorithms.File | Dimensione | Formato | |
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https://hdl.handle.net/10589/182856