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Sensors 2017, 17(6), 1294;

Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device

MECH Department, Vrije Universiteit Brussel and Flanders Make, Pleinlaan 2, Brussels 1050, Belgium
Author to whom correspondence should be addressed.
Academic Editor: Vittorio M. N. Passaro
Received: 3 April 2017 / Revised: 24 May 2017 / Accepted: 31 May 2017 / Published: 5 June 2017
(This article belongs to the Section Physical Sensors)
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Human–robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control. View Full-Text
Keywords: force sensor; human–robot interaction; exoskeletons; rehabilitation robot force sensor; human–robot interaction; exoskeletons; rehabilitation robot

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Grosu, V.; Grosu, S.; Vanderborght, B.; Lefeber, D.; Rodriguez-Guerrero, C. Multi-Axis Force Sensor for Human–Robot Interaction Sensing in a Rehabilitation Robotic Device. Sensors 2017, 17, 1294.

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