Abstract
In recent years, with the aging of the social population, exoskeleton robots have a wide range of application prospects in rehabilitation assistance, walking assistance, and physical expansion. However, the sensors developed for traditional robots currently have problems such as poor wearability, poor biocompatibility, and poor adaptability. To realize human-machine motion coordination assistance with multiple degrees of freedom and multiple motion states more effectively, and improve the flexibility, real-time performance, and reliability of the interaction between the wearer and the exoskeleton, it is necessary to design a set of flexible sensing systems to monitor the wearer’s motion status. It provides intelligent sensing technology support for adaptive control of exoskeleton in complex environments. This paper proposes a new flexible stretchable capacitive sensor and introduces its selection and manufacturing process. In the following experiments, three different slopes in the static experiment and dynamic experiment were used to test its performance and explore the accuracy and stability of its angle measurement.
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Acknowledgments
This work was partially supported by the NSFC-Shenzhen Robotics Research Center Project (U2013207), the National Key R&D Program of China (2022YFC3601704), the Natural Science Foundation of China (62273325, U191320, 62003327), the Natural Science Foundation of Guangdong Province (2019A1515010782), and SIAT-CUHK Joint Laboratory of Robotics and Intelligent Systems.
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Xiao, Y., Chen, C., Liu, Y. (2023). Flexible Sensors Used for Lower Assisting Exoskeleton. In: Yang, H., et al. Intelligent Robotics and Applications. ICIRA 2023. Lecture Notes in Computer Science(), vol 14268. Springer, Singapore. https://doi.org/10.1007/978-981-99-6486-4_26
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DOI: https://doi.org/10.1007/978-981-99-6486-4_26
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