A Methodology to Quantify Alterations in Human Upper Limb Movement During Co-Manipulation With an Exoskeleton

作者：Jarrasse Nathanael^*; Tagliabue Michele; Robertson Johanna V G; Maiza Amina; Crocher Vincent; Roby Brami Agnes; Morel Guillaume

来源：IEEE Transactions on Neural Systems and Rehabilitation Engineering, 2010, 18(4): 389-397.

DOI：10.1109/TNSRE.2010.2056388

• Exoskeletons
• physical human-robot interaction (pHRi)
• rehabilitation

While a large number of robotic exoskeletons have been designed by research teams for rehabilitation, it remains rather difficult to analyse their ability to finely interact with a human limb: no performance indicators or general methodology to characterize this capacity really exist. This is particularly regretful at a time when robotics are becoming a recognized rehabilitation method and when complex problems such as 3-D movement rehabilitation and joint rotation coordination are being addressed. The aim of this paper is to propose a general methodology to evaluate, through a reduced set of simple indicators, the ability of an exoskeleton to interact finely and in a controlled way with a human. The method involves measurement and recording of positions and forces during 3-D point to point tasks. It is applied to a 4 degrees-of-freedom limb exoskeleton by way of example.

• 出版日期2010-8