Development of a 3D Relative Motion Method for Human-Robot Interaction Assessment.
exoskeleton
human–robot interaction
relative motion
Journal
Sensors (Basel, Switzerland)
ISSN: 1424-8220
Titre abrégé: Sensors (Basel)
Pays: Switzerland
ID NLM: 101204366
Informations de publication
Date de publication:
21 Mar 2022
21 Mar 2022
Historique:
received:
21
02
2022
revised:
10
03
2022
accepted:
11
03
2022
entrez:
26
3
2022
pubmed:
27
3
2022
medline:
31
3
2022
Statut:
epublish
Résumé
Exoskeletons have been assessed by qualitative and quantitative features known as performance indicators. Within these, the ergonomic indicators have been isolated, creating a lack of methodologies to analyze and assess physical interfaces. In this sense, this work presents a three-dimensional relative motion assessment method. This method quantifies the difference of orientation between the user's limb and the exoskeleton link, providing a deeper understanding of the Human-Robot interaction. To this end, the AGoRA exoskeleton was configured in a resistive mode and assessed using an optoelectronic system. The interaction quantified a difference of orientation considerably at a maximum value of 41.1 degrees along the sagittal plane. It extended the understanding of the Human-Robot Interaction throughout the three principal human planes. Furthermore, the proposed method establishes a performance indicator of the physical interfaces of an exoskeleton.
Identifiants
pubmed: 35336593
pii: s22062411
doi: 10.3390/s22062411
pmc: PMC8952123
pii:
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Subventions
Organisme : Colciencias
ID : Grant 801-2017
Organisme : Colciencias
ID : Grant 845-2020
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