| Paper Name |
Optoelectronic-based pose sensing for a hand rehabilitation exoskeleton continuous structure |
| Author |
Bo He, Min Li, Renghao Liang, Ziting Liang, Wei Yao, Sina Sareh, Jun Xie, Guanghua Xu, and Yohan Noh |
| Publication/Completion Time |
2022-01-20 |
| Magazine Name |
IEEE Sensors Journal |
| Vol |
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| Related articles |
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| Paper description |
Hand exoskeleton pose monitoring is of great
importance in the rehabilitation training of stroke patients to
ensure precise robotic trajectory control and provide a patient
recovery assessment mechanism. In this paper, a low-cost
pose sensor unit based on the principle of photoelectric
reflection is proposed to measure the pose of a multi-segment
continuous structure in a hand rehabilitation exoskeleton. The
sensor unit consists of five photosensitive elements that
measure the rotation angle of an arrangement of adjacent
segments, each integrated with a sensing element, to estimate
the actuator’s motion. An accurate device with a user-friendly interface is then designed for calibration of the sensing
elements. The experimental results indicate that the sensitivity exceeds 0.047 V/° for the sensing elements, and
hysteresis and repeatability errors are less than 1.1% and 1.8%, respectively. A comparison between the proposed
sensor output and the results benchmarked by a VICON motion capture system demonstrates that the sensor can
measure the bending angle of the multi-segment structure with a mean error of 3.42 degrees. |
(创新港)
