ANIMATE - Active and seNsorized Interfaces for coMfort and sAfeTy within Exoskeletons

Exoskeletons are wearable robotic devices that have shown
promising results for humankind. From therapeutic benefits to
assisting our labor forces, global interest in this technology keeps
rising. However, reports on adverse events related to soft tissue
injuries, as well as discomfort associated with wearing these devices,
are impeding the transfusion of the technology throughout our
society. Furthermore, the range of movements that can be assisted
by an exoskeleton is quite limited, due to the difficulties of capturing
the state and intention of the wearer.
Therefore, the aim is to develop sensors composed of high-density
surface electromyographic electrodes and high-density pressure
sensors that can be integrated into the connective components
between man and machine (i.e. physical interfaces) to sense the
state and intention of the user, as well as the forces that are acting
on the skin. Furthermore, to control the pressure applied on the skinboth
spatially and temporally- active interfaces based on multiple
pneumatic chambers will be developed.
Finally, the knowledge gained with sensorized and active interfaces
will be synthesized in a parametric model that allows for customized
interfaces to be developed. The research questions are validated
through a robotically aided method consisting of a torque-controlled
co-bot that is safely attached to human subjects by means of the
developed interfaces, to precisely and repeatably measure motion
and interaction forces.