Development of human-robot interfacing method for assistive wearable robot of the human upper extremities

Lee, Heedon; Yu, Seung-Nam; Lee, Seung‐Hoon; Han, Jung‐Soo; Han, ChangSoo

doi:10.1109/sice.2008.4654948

Cited by 4 publications

(1 citation statement)

References 9 publications

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“…Sensors measuring human-exosystem interaction pressures have also been developed to evaluate injury mechanisms related to dynamic fit during motion tasks (de Rossi et al, 2011;Donati et al, 2013;Rathore et al, 2016;Tamez-Duque et al, 2015). In addition, exosystems have used pressure sensors (as on/off or proportional input) or load cells within a controller to drive motion for lower (Dollar & Herr, 2008;Galle et al, 2014;Long et al, 2016;Wu et al, 2015) and upper extremity (Diftler et al, 2014;Lee et al, 2008;Siu et al, 2018) systems. Previous efforts (Schiele & van der Helm, 2009) showed the alignment between an upper extremity exoskeleton and human joint could become offset more than 10 cm even when the two axes were well aligned statically at the start of a movement and that these discordant kinematics generated unwanted internal forces on the human.…”

Section: Resultsmentioning

confidence: 99%

Static, Dynamic, and Cognitive Fit of Exosystems for the Human Operator

et al. 2020

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Objective To define static, dynamic, and cognitive fit and their interactions as they pertain to exosystems and to document open research needs in using these fit characteristics to inform exosystem design. Background Initial exosystem sizing and fit evaluations are currently based on scalar anthropometric dimensions and subjective assessments. As fit depends on ongoing interactions related to task setting and user, attempts to tailor equipment have limitations when optimizing for this limited fit definition. Method A targeted literature review was conducted to inform a conceptual framework defining three characteristics of exosystem fit: static, dynamic, and cognitive. Details are provided on the importance of differentiating fit characteristics for developing exosystems. Results Static fit considers alignment between human and equipment and requires understanding anthropometric characteristics of target users and geometric equipment features. Dynamic fit assesses how the human and equipment move and interact with each other, with a focus on the relative alignment between the two systems. Cognitive fit considers the stages of human-information processing, including somatosensation, executive function, and motor selection. Human cognitive capabilities should remain available to process task- and stimulus-related information in the presence of an exosystem. Dynamic and cognitive fit are operationalized in a task-specific manner, while static fit can be considered for predefined postures. Conclusion A deeper understanding of how an exosystem fits an individual is needed to ensure good human–system performance. Development of methods for evaluating different fit characteristics is necessary. Application Methods are presented to inform exosystem evaluation across physical and cognitive characteristics.

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Section: Resultsmentioning

confidence: 99%

Static, Dynamic, and Cognitive Fit of Exosystems for the Human Operator

et al. 2020

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Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying

Yao

Wei

et al. 2016

2016 IEEE Advanced Information Management, Communicates, Electronic and Automation Control Conference (IMCEC)

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Biomechanical modeling and load-carrying simulation of lower limb exoskeleton

Zhu

Zhang

et al. 2015

BME

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Abstract. This paper introduces novel modern equipment-a lower extremity exoskeleton, which can implement the mutual complement and the interaction between human intelligence and the robot's mechanical strength. In order to provide a reference for the exoskeleton structure and the drive unit, the human biomechanics were modeled and analyzed by LifeModeler and Adams software to derive each joint kinematic parameter. The control was designed to implement the zero-force interaction between human and exoskeleton. Furthermore, simulations were performed to verify the control and assist effect. In conclusion, the system scheme of lower extremity exoskeleton is demonstrated to be feasible.

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Development of human-robot interfacing method for assistive wearable robot of the human upper extremities

Cited by 4 publications

References 9 publications

Static, Dynamic, and Cognitive Fit of Exosystems for the Human Operator

Static, Dynamic, and Cognitive Fit of Exosystems for the Human Operator

Topology optimization design of 6-DOF lower extremity exoskeleton leg for load carrying

Biomechanical modeling and load-carrying simulation of lower limb exoskeleton

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