Sensor technology development for human robot interaction and joint misalignment assessment
Autor(a) principal: | |
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Data de Publicação: | 2024 |
Tipo de documento: | Tese |
Idioma: | eng |
Título da fonte: | Biblioteca Digital de Teses e Dissertações da USP |
Texto Completo: | https://www.teses.usp.br/teses/disponiveis/18/18162/tde-09052024-090655/ |
Resumo: | In the rapid and growing development of Robotics within the field of Assistive and Rehabilitation Technologies, the evaluation of human-robot interaction torques is not only important to ensure patient safety, increasing the control effectiveness of rehabilitation devices, but also serves as an essential tool to provide clinicians with more reliable data. However, the complexities associated with its measurement often result in detailed procedures or costly implementations. Seeking to address these challenges, this doctoral research aims to develop and evaluate new wearable sensor technologies to estimate interaction torques and angular misalignment for Human-Robot Interaction (HRI) systems. A suite of three specialized sensor systems was developed. The initial prototype, based on Fiber Optic technology, introduces the concept of differential sensor measurement. The second sensor presents an improved version of the previous one, employing resistive force sensors and the definition of a new misalignment factor. Finally, the third prototype features an array of resistive force sensors and even more refined measurement methodologies, validated with force/torque (F/T) sensors under controlled misalignment conditions. The data from the proposed sensors are combined with the Disturbance Observers (DOB) methodology, seeking to accurately estimate and evaluate human-robot interaction torques and inherent joint misalignments. Characterization and evaluation phases with healthy volunteers, considering different configurations, confirm the viability and robustness of the proposed sensor prototypes. Of the proposed sensors, the prototype with an array of resistive force sensors proved to be more accurate and with more flexibility for estimating interaction torques and misalignment. |
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Sensor technology development for human robot interaction and joint misalignment assessmentDesenvolvimento de tecnologia de sensores para avaliação da interação humano-robô e do desalinhamento angularestimativa de torque humanoestimativa do desalinhamentohuman torque estimationhuman-robot interaction systemsmisalignment estimationreabilitação robóticarobotic rehabilitationsistemas de interação humano-robôIn the rapid and growing development of Robotics within the field of Assistive and Rehabilitation Technologies, the evaluation of human-robot interaction torques is not only important to ensure patient safety, increasing the control effectiveness of rehabilitation devices, but also serves as an essential tool to provide clinicians with more reliable data. However, the complexities associated with its measurement often result in detailed procedures or costly implementations. Seeking to address these challenges, this doctoral research aims to develop and evaluate new wearable sensor technologies to estimate interaction torques and angular misalignment for Human-Robot Interaction (HRI) systems. A suite of three specialized sensor systems was developed. The initial prototype, based on Fiber Optic technology, introduces the concept of differential sensor measurement. The second sensor presents an improved version of the previous one, employing resistive force sensors and the definition of a new misalignment factor. Finally, the third prototype features an array of resistive force sensors and even more refined measurement methodologies, validated with force/torque (F/T) sensors under controlled misalignment conditions. The data from the proposed sensors are combined with the Disturbance Observers (DOB) methodology, seeking to accurately estimate and evaluate human-robot interaction torques and inherent joint misalignments. Characterization and evaluation phases with healthy volunteers, considering different configurations, confirm the viability and robustness of the proposed sensor prototypes. Of the proposed sensors, the prototype with an array of resistive force sensors proved to be more accurate and with more flexibility for estimating interaction torques and misalignment.No desenvolvimento rápido e crescente da Robótica dentro do campo das Tecnologias Assistivas e de Reabilitação, a avaliação dos torques de interação humano-robô não só tem importância para garantir a segurança do paciente, aumentando a eficácia do controle dos dispositivos de reabilitação, como também serve como ferramenta essencial para fornecer aos clínicos dados mais confiáveis. No entanto, as complexidades associadas à sua medição frequentemente resultam em procedimentos detalhados ou implementações de alto custo. Buscando enfrentar esses desafios, esta pesquisa de doutorado visa a desenvolver e avaliar novas tecnologias de sensores vestíveis para realizar a estimativa de torques de interação e desalinhamento angular para sistemas de Interação Humano-Robô (HRI). Um conjunto de três sistemas de sensores especializados foi desenvolvido. O protótipo inicial, baseado em tecnologia de Fibra Óptica, introduz o conceito de medição diferencial dos sensores. O segundo sensor apresenta uma versão aprimorada do anterior, empregando sensores resistivos de força e a definição de um novo fator de desalinhamento. Finalmente, o terceiro protótipo apresenta um arranjo de sensores resistivos de força e metodologias de medição ainda mais refinadas, validadas com sensores de força/torque (F/T) sob condições de desalinhamento controlado. Os dados dos sensores propostos são combinados com a metodologia de Observadores de Perturbação (DOB), buscando estimar e avaliar com precisão os torques de interação humano-robô e os inerentes desalinhamentos articulares. Fases de caracterização e avaliação com voluntários hígidos, considerando diferentes configurações, confirmam a viabilidade e robustez dos protótipos de sensores propostos. Dos sensores propostos, o protótipo com um conjunto de sensores resistivos de força mostrou-se mais preciso e com mais flexibilidade para a estimativa dos torques de interação e do desalinhamento.Biblioteca Digitais de Teses e Dissertações da USPSiqueira, Adriano Almeida GonçalvesJaimes, Jonathan Campo2024-03-07info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/doctoralThesisapplication/pdfhttps://www.teses.usp.br/teses/disponiveis/18/18162/tde-09052024-090655/reponame:Biblioteca Digital de Teses e Dissertações da USPinstname:Universidade de São Paulo (USP)instacron:USPLiberar o conteúdo para acesso público.info:eu-repo/semantics/openAccesseng2024-05-10T12:53:02Zoai:teses.usp.br:tde-09052024-090655Biblioteca Digital de Teses e Dissertaçõeshttp://www.teses.usp.br/PUBhttp://www.teses.usp.br/cgi-bin/mtd2br.plvirginia@if.usp.br|| atendimento@aguia.usp.br||virginia@if.usp.bropendoar:27212024-05-10T12:53:02Biblioteca Digital de Teses e Dissertações da USP - Universidade de São Paulo (USP)false |
dc.title.none.fl_str_mv |
Sensor technology development for human robot interaction and joint misalignment assessment Desenvolvimento de tecnologia de sensores para avaliação da interação humano-robô e do desalinhamento angular |
title |
Sensor technology development for human robot interaction and joint misalignment assessment |
spellingShingle |
Sensor technology development for human robot interaction and joint misalignment assessment Jaimes, Jonathan Campo estimativa de torque humano estimativa do desalinhamento human torque estimation human-robot interaction systems misalignment estimation reabilitação robótica robotic rehabilitation sistemas de interação humano-robô |
title_short |
Sensor technology development for human robot interaction and joint misalignment assessment |
title_full |
Sensor technology development for human robot interaction and joint misalignment assessment |
title_fullStr |
Sensor technology development for human robot interaction and joint misalignment assessment |
title_full_unstemmed |
Sensor technology development for human robot interaction and joint misalignment assessment |
title_sort |
Sensor technology development for human robot interaction and joint misalignment assessment |
author |
Jaimes, Jonathan Campo |
author_facet |
Jaimes, Jonathan Campo |
author_role |
author |
dc.contributor.none.fl_str_mv |
Siqueira, Adriano Almeida Gonçalves |
dc.contributor.author.fl_str_mv |
Jaimes, Jonathan Campo |
dc.subject.por.fl_str_mv |
estimativa de torque humano estimativa do desalinhamento human torque estimation human-robot interaction systems misalignment estimation reabilitação robótica robotic rehabilitation sistemas de interação humano-robô |
topic |
estimativa de torque humano estimativa do desalinhamento human torque estimation human-robot interaction systems misalignment estimation reabilitação robótica robotic rehabilitation sistemas de interação humano-robô |
description |
In the rapid and growing development of Robotics within the field of Assistive and Rehabilitation Technologies, the evaluation of human-robot interaction torques is not only important to ensure patient safety, increasing the control effectiveness of rehabilitation devices, but also serves as an essential tool to provide clinicians with more reliable data. However, the complexities associated with its measurement often result in detailed procedures or costly implementations. Seeking to address these challenges, this doctoral research aims to develop and evaluate new wearable sensor technologies to estimate interaction torques and angular misalignment for Human-Robot Interaction (HRI) systems. A suite of three specialized sensor systems was developed. The initial prototype, based on Fiber Optic technology, introduces the concept of differential sensor measurement. The second sensor presents an improved version of the previous one, employing resistive force sensors and the definition of a new misalignment factor. Finally, the third prototype features an array of resistive force sensors and even more refined measurement methodologies, validated with force/torque (F/T) sensors under controlled misalignment conditions. The data from the proposed sensors are combined with the Disturbance Observers (DOB) methodology, seeking to accurately estimate and evaluate human-robot interaction torques and inherent joint misalignments. Characterization and evaluation phases with healthy volunteers, considering different configurations, confirm the viability and robustness of the proposed sensor prototypes. Of the proposed sensors, the prototype with an array of resistive force sensors proved to be more accurate and with more flexibility for estimating interaction torques and misalignment. |
publishDate |
2024 |
dc.date.none.fl_str_mv |
2024-03-07 |
dc.type.status.fl_str_mv |
info:eu-repo/semantics/publishedVersion |
dc.type.driver.fl_str_mv |
info:eu-repo/semantics/doctoralThesis |
format |
doctoralThesis |
status_str |
publishedVersion |
dc.identifier.uri.fl_str_mv |
https://www.teses.usp.br/teses/disponiveis/18/18162/tde-09052024-090655/ |
url |
https://www.teses.usp.br/teses/disponiveis/18/18162/tde-09052024-090655/ |
dc.language.iso.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
|
dc.rights.driver.fl_str_mv |
Liberar o conteúdo para acesso público. info:eu-repo/semantics/openAccess |
rights_invalid_str_mv |
Liberar o conteúdo para acesso público. |
eu_rights_str_mv |
openAccess |
dc.format.none.fl_str_mv |
application/pdf |
dc.coverage.none.fl_str_mv |
|
dc.publisher.none.fl_str_mv |
Biblioteca Digitais de Teses e Dissertações da USP |
publisher.none.fl_str_mv |
Biblioteca Digitais de Teses e Dissertações da USP |
dc.source.none.fl_str_mv |
reponame:Biblioteca Digital de Teses e Dissertações da USP instname:Universidade de São Paulo (USP) instacron:USP |
instname_str |
Universidade de São Paulo (USP) |
instacron_str |
USP |
institution |
USP |
reponame_str |
Biblioteca Digital de Teses e Dissertações da USP |
collection |
Biblioteca Digital de Teses e Dissertações da USP |
repository.name.fl_str_mv |
Biblioteca Digital de Teses e Dissertações da USP - Universidade de São Paulo (USP) |
repository.mail.fl_str_mv |
virginia@if.usp.br|| atendimento@aguia.usp.br||virginia@if.usp.br |
_version_ |
1809090547955007488 |