20.500.12556/RUL-136694 Wearable sensory apparatus for real-time feedback in wearable robotics 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. inertial measurement unit wearable sensors whole body awareness gait phase detection control strategy exoskeleton robotic prosthetics inercijska merilna enota nosljivi senzorji zaznavanje celega telesa detekcija faz hoje vodenje eksoskelet robotska proteza true false true Angleški jezik Slovenski jezik Članek v reviji 2022-05-16 13:52:57 2022-05-16 13:52:59 2022-09-15 04:14:12 0000-00-00 00:00:00 2021 0 0 20 str. iss. 23, art. 11487 Vol. 11 Dec. 2021 0000-00-00 Zaloznikova Objavljeno NiDoloceno 0000-00-00 0000-00-00 0000-00-00 007.52 2076-3417 10.3390/app112311487 87901187 applsci-11-11487.pdf applsci-11-11487.pdf 1 3CA2852FF1C223390ACE389B8B535B82 7522e970841a4abce75e2282945dbe6b5b12a17a3113ccd1ff9f44bcc6b64797 e795fcd2-d50e-11ec-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=156437 https://www.mdpi.com/2076-3417/11/23/11487 1 9ea1dee0-d50e-11ec-8aca-00155dcfd717 https://repozitorij.uni-lj.si/Dokument.php?lang=slv&id=156435 Fakulteta za elektrotehniko 0 0 0