Pneumatic Feedback for Wearable Lower Limb Exoskeletons Further Explored

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• 关键词：Pneumatic feedback ; Wearable exoskeleton ; Stimulus modulation
• 刊名：Lecture Notes in Computer Science
• 出版年：2016
• 出版时间：2016
• 年：2016
• 卷：9774
• 期：1
• 页码：90-98
• 全文大小：538 KB
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• 作者单位：Heidi Muijzer-Witteveen (16)
  Francisco Guerra (16)
  Victor Sluiter (16)
  Herman van der Kooij (16) (17)
  
  16. Department of Biomechanical Engineering, MIRA Institute of Biomedical Technology and Technical Medicine, University of Twente, Enschede, The Netherlands
  17. Department of Biomechatronics and Human-Machine Control, Institute of Mechanical, Maritime and Materials Engineering, Delft University of Technology, Delft, The Netherlands
  
• 丛书名：Haptics: Perception, Devices, Control, and Applications
• ISBN：978-3-319-42321-0
• 刊物类别：Computer Science
• 刊物主题：Artificial Intelligence and Robotics
  Computer Communication Networks
  Software Engineering
  Data Encryption
  Database Management
  Computation by Abstract Devices
  Algorithm Analysis and Problem Complexity
  
• 出版者：Springer Berlin / Heidelberg
• ISSN：1611-3349
• 卷排序：9774

文摘

For optimal control of wearable lower limb exoskeletons the sensory information flow should also be (partly) restored, especially when the users are Spinal Cord Injury subjects. Several methods, like electrotactile or electromechanical vibrotactile stimulation, to provide artificial sensory feedback have been studied thoroughly and showed promising results. Pneumatic tactile stimulation might be an alternative to these methods, because the stimulation amplitudes can be larger and in cases of force feedback, the modality of stimulation and sensing can be matched. In this study we have developed a setup that can provide pneumatic feedback with four feedback levels via three stimulation modalities: (1) amplitude modulation, (2) position modulation and (3) frequency modulation. The differences in subject stimulus perception between these three stimulation modalities were evaluated through a magnitude estimation task performed with 10 healthy subjects. Percentages correctly identified feedback levels were significantly higher for frequency modulation than the other two stimulation modalities. Also through questionnaires the subjects indicated that feedback through frequency modulation was the most intuitive and the only method where addition of an extra feedback level was indicated as possible. The results of this study show that pneumatic feedback is feasible, can provide high percentages of feedback level discrimination that are at least comparable to vibrotactile stimulation and therefore encourages further research to optimize the pneumatic setup.