Low cost exoskeleton manipulator using bidirectional triboelectric sensors enhanced multiple degree of freedom sensory system

• Published in: Nature communications Vol. 12; no. 1; pp. 2692 - 16
• Main Authors: Zhu, Minglu, Sun, Zhongda, Chen, Tao, Lee, Chengkuo
• Format: Journal Article
• Language: English
• Published: London Nature Publishing Group UK 11.05.2021; Nature Publishing Group; Nature Portfolio
• Subjects: 639/166/987; 639/166/988; Automation; Computer applications; Computer Simulation; Data processing; Degrees of freedom; Equipment Design - economics; Equipment Design - instrumentation; Equipment Design - methods; Exoskeleton; Exoskeleton Device; Exoskeletons; Humanities and Social Sciences; Humans; Interfaces; Joints - physiology; Man-machine interfaces; Movement - physiology; multidisciplinary; Orthotic Devices; Physical properties; Power consumption; Range of Motion, Articular - physiology; Robot arms; Robotics; Robotics - economics; Robotics - instrumentation; Robotics - methods; Science; Science (multidisciplinary); Sensors; Upper Extremity - physiology; Virtual reality; Wearable technology; Wrist
• ISSN: 2041-1723; 2041-1723
• DOI: 10.1038/s41467-021-23020-3

Rapid developments of robotics and virtual reality technology are raising the requirements of more advanced human-machine interfaces for achieving efficient parallel control. Exoskeleton as an assistive wearable device, usually requires a huge cost and complex data processing to track the multi-dimensional human motions. Alternatively, we propose a triboelectric bi-directional sensor as a universal and cost-effective solution to a customized exoskeleton for monitoring all of the movable joints of the human upper limbs with low power consumption. The corresponding movements, including two DOF rotations of the shoulder, twisting of the wrist, and the bending motions, are detected and utilized for controlling the virtual character and the robotic arm in real-time. Owing to the structural consistency between the exoskeleton and the human body, further kinetic analysis offers additional physical parameters without introducing other types of sensors. This exoskeleton sensory system shows a great potential of being an economic and advanced human-machine interface for supporting the manipulation in both real and virtual worlds, including robotic automation, healthcare, and training applications. Next-generation flexible and wearable sensors are a promising technology to enhance the functionality of human-machine interfaces. Here, the authors report triboelectric bi-directional sensors integrated into an exoskeleton system for enhanced degrees of freedom in movement.