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Wearable sensory apparatus for real-time feedback in wearable robotics
ID Munih, Marko (Author), ID Ivanić, Zoran (Author), ID Kamnik, Roman (Author)

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Abstract
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.

Language:English
Keywords:inertial measurement unit, wearable sensors, whole body awareness, gait phase detection, control strategy, exoskeleton, robotic prosthetics
Work type:Article
Typology:1.01 - Original Scientific Article
Organization:FE - Faculty of Electrical Engineering
Publication status:Published
Publication version:Version of Record
Year:2021
Number of pages:20 str.
Numbering:Vol. 11, iss. 23, art. 11487
PID:20.500.12556/RUL-136694 This link opens in a new window
UDC:007.52
ISSN on article:2076-3417
DOI:10.3390/app112311487 This link opens in a new window
COBISS.SI-ID:87901187 This link opens in a new window
Publication date in RUL:16.05.2022
Views:446
Downloads:77
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Record is a part of a journal

Title:Applied sciences
Shortened title:Appl. sci.
Publisher:MDPI
ISSN:2076-3417
COBISS.SI-ID:522979353 This link opens in a new window

Licences

License:CC BY 4.0, Creative Commons Attribution 4.0 International
Link:http://creativecommons.org/licenses/by/4.0/
Description:This is the standard Creative Commons license that gives others maximum freedom to do what they want with the work as long as they credit the author.
Licensing start date:03.12.2021

Secondary language

Language:Slovenian
Keywords:inercijska merilna enota, nosljivi senzorji, zaznavanje celega telesa, detekcija faz hoje, vodenje, eksoskelet, robotska proteza

Projects

Funder:EC - European Commission
Funding programme:FP7
Project number:287894
Name:The CYBERnetic LowEr-Limb CoGnitive Ortho-prosthesis
Acronym:CYBERLEGS

Funder:EC - European Commission
Funding programme:H2020
Project number:731931
Name:The CYBERnetic LowEr-Limb CoGnitive Ortho-prosthesis Plus Plus
Acronym:CYBERLEGs Plus Plus

Funder:ARRS - Slovenian Research Agency
Project number:P2-0228
Name:Analiza in sinteza gibanja pri človeku in stroju

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