Wearable sensory apparatus for real-time feedback in wearable robotics

Munih, Marko (avtor), Ivanić, Zoran (avtor), Kamnik, Roman (avtor)

We describe the Wearable Sensory Apparatus (WSA) System, which has been implemented and verified in accordance with the relevant standards. It comprises the Inertial Measurement Units (IMUs), real-time wireless data transmission over Ultrawideband (UWB), a Master Unit and several IMU dongles forming the Wireless Body Area Network (WBAN). The WSA is designed for, but is not restricted to, wearable robots. The paper focuses on the topology of the communication network, the WSA hardware, and the organization of the WSA firmware. The experimental evaluation of the WSA incorporates the confirmation of the timing using the supply current WSA profile, measurements related to determining the less error prone position of the master device on the backpack, measurements of the quality of the data transfer in a real environment scenario, measurements in the presence of other microwave signals, and an example of raw IMU signals during human walking. Placement of the master device on the top of the backpack was found to be less error prone, with less than 0.02% packet loss for all the IMU devices placed on different body segments. The packet loss did not change significantly in public buildings or on the street. There was no impact of Wi-Fi bands on the WSA data transfer. The WSA hardware and firmware passed conformance testing in a certified lab. Most importantly, the WSA performed reliably in the laboratory and in clinical tests with exoskeletons and prostheses.

• Jezik: Angleški jezik
• Ključne besede: inertial measurement unit, wearable sensors, whole body awareness, gait phase detection, control strategy, exoskeleton, robotic prosthetics
• Vrsta gradiva: Članek v reviji
• Tipologija: 1.01 - Izvirni znanstveni članek
• Organizacija: FE - Fakulteta za elektrotehniko
• Status publikacije: Objavljeno
• Različica publikacije: Objavljena publikacija
• Leto izida: 2021
• Št. strani: 20 str.
• Številčenje: Vol. 11, iss. 23, art. 11487
• PID: 20.500.12556/RUL-136694
• UDK: 007.52
• ISSN pri članku: 2076-3417
• DOI: 10.3390/app112311487
• COBISS.SI-ID: 87901187
• Datum objave v RUL: 16.05.2022

Gradivo je del revije

• Naslov: Applied sciences
• Skrajšan naslov: Appl. sci.
• Založnik: MDPI
• ISSN: 2076-3417
• COBISS.SI-ID: 522979353

Licence

• Licenca: CC BY 4.0, Creative Commons Priznanje avtorstva 4.0 Mednarodna
• Povezava: http://creativecommons.org/licenses/by/4.0/deed.sl
• Opis: To je standardna licenca Creative Commons, ki daje uporabnikom največ možnosti za nadaljnjo uporabo dela, pri čemer morajo navesti avtorja.
• Začetek licenciranja: 03.12.2021

Sekundarni jezik

• Jezik: Slovenski jezik
• Ključne besede: inercijska merilna enota, nosljivi senzorji, zaznavanje celega telesa, detekcija faz hoje, vodenje, eksoskelet, robotska proteza