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  • Optoelectronic-based pose sensing for a hand rehabilitation exoskeleton continuous structure

He, Bo, Li, Min, Liang, Renghao, Liang, Ziting, Yao, Wei, Sareh, Sina ORCID: https://orcid.org/0000-0002-9787-1798, Xie, Jun, Xu, Guanghua and Noh, Yohan, 2022, Journal Article, Optoelectronic-based pose sensing for a hand rehabilitation exoskeleton continuous structure IEEE Sensors Journal, 22 (6). pp. 5606-5615. ISSN 1530-437X

Abstract or 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 3.23 degrees.

Official URL: https://ieeexplore.ieee.org/document/9695486
Subjects: Other > Engineering > H600 Electronic and Electrical Engineering > H670 Robotics and Cybernetics > H671 Robotics
Other > Engineering > H600 Electronic and Electrical Engineering > H680 Optoelectronic Engineering
School or Centre: School of Design
Identification Number or DOI: https://doi.org/10.1109/JSEN.2022.3147227
Uncontrolled Keywords: Optoelectronic sensors; pose sensing; infrared sensors; hand rehabilitation exoskeleton
Date Deposited: 13 Apr 2022 10:51
Last Modified: 20 Apr 2022 10:04
URI: https://researchonline.rca.ac.uk/id/eprint/4977
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