Wearable Sensory Apparatus for Real-Time Feedback in Wearable Robotics

We describe the Wearable Sensory Apparatus (WSA) System, which has been implemented and verified in accordance with relevant standards. It comprises Inertial Measurement Units (IMUs), real-time wireless data transmission over Ultrawideband (UWB), a Master Unit several IMU dongles forming Wireless Body Area Network (WBAN). The WSA is designed for, but not restricted to, wearable robots. paper focuses on topology of communication network, hardware, organization firmware. experimental evaluation incorporates confirmation timing using supply current profile, measurements related to determining less error prone position master device backpack, quality transfer real environment scenario, presence other microwave signals, an example raw signals during human walking. Placement top backpack was found be prone, than 0.02% packet loss for all devices placed different body segments. did change significantly public buildings or street. There no impact Wi-Fi bands transfer. hardware firmware passed conformance testing certified lab. Most importantly, performed reliably laboratory clinical tests exoskeletons prostheses.