Force Sensing for Wearable Human-Robot Interfaces via Fluidic Innervation

摘要

Mechanically characterizing the human-machine interface is essential to understanding user behavior and optimizing wearable robot performance. This interface has been challenging to sensorize due to manufacturing complexity and non-linear sensor responses. Here, we measure human limb-device interaction via fluidic innervation, creating a 3D-printed silicone pad with embedded air channels to measure forces. As forces are applied to the pad, the air channels compress, resulting in a pressure change measurable by off-the-shelf pressure transducers. We demonstrate in benchtop testing that pad pressure is highly linearly related to applied force ($R^2 = 0.998$) and confirmed strong linear relationships to isometric knee torque in a clinical dynamometer with strategic pad placement. We built on these idealized settings to test pad performance in more unconstrained settings, including during cyclic dynamic and stepwise isometric bicep curls. Finally, we integrated the sensor into a lower-extremity robotic exoskeleton and recorded pad pressure during repeated squats with the device unpowered. Pad pressure tracked squat phase and overall task dynamics consistently. Collectively, our preliminary results suggest fluidic innervation is a readily customizable sensing modality with high signal-to-noise ratio and temporal resolution for capturing human-machine interaction. In the long-term, this modality may provide an alternative real-time sensing input to control / optimize wearable robotic systems and to capture user function during device use.