Measuring the Improvement of the Interaction Comfort of a Wearable Exoskeleton

Folgheraiter, Michele; Jordan, Mathias; Straube, Sirko; Seeland, Anett; Kim, Su Kyoung; Kirchner, Elsa Andrea

doi:10.1007/s12369-012-0147-x

Cited by 41 publications

(29 citation statements)

References 40 publications

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“…However, previous researches [1], [2] primarily focused on two aspects. First, enhancing device's loading capacity by employing high power actuators or complicated mechanical designs; second, the control of exoskeleton as an application of machine learning problem for which only the bio-signal classification and pattern prediction rate are concerned [3], [4]. The timing of assistance, though an important aspect, has been more or less neglected.…”

Section: Introductionmentioning

confidence: 99%

On the Well-Timed Assistance in Power-Assisted Sit-to-Stand Movement

Dong

Matsushita

Yamamoto

et al. 2015

SICE Journal of Control, Measurement, and System Integration

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: Many human augmentation devices have been developed in the past few decades, but lots of them neglected the importance of well-timed assistance, which commonly leads to problems like lowered performance or interference with user's movement. In this research the authors focused in depth on the timing issue of powered assistance. As a pilot study for the proof of concept, the authors hypothesized that different timing of assistance may greatly affect the efficiency of movement for power-assisting devices, and verified the hypothesis through human experiment on sit-to-stand (STS) movement. By measuring the electromyogram (EMG) of lower limb muscles, the authors firstly confirmed the effectiveness of assistance, then compared the effect of assistance timing with other frequently investigated determinants of STS movement, and evaluated the efficiency of movement under different timing conditions. The results demonstrated the importance of timing in powered assistance, and showed that, rather than the common practice of providing assistance after the onset of movement, which is adopted by most traditional proportional-EMG-controlled human augmentation devices, it may improve the efficiency of movement for at least half of the subjects simply by adopting an earlier (before or at the same time of movement onset) but optimal timing for assistance. As a preparation for future works, the authors also quantitatively analyzed various early timing conditions, and the result indicated that if the authors could realize appropriate movement prediction mechanism, the performance of assistance may be improved further. Considering the generality of timing issue in many related works, these results could lead to a new direction of research on performance improvement of human augmentation devices.

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Section: Introductionmentioning

confidence: 99%

On the Well-Timed Assistance in Power-Assisted Sit-to-Stand Movement

Dong

Matsushita

Yamamoto

et al. 2015

SICE Journal of Control, Measurement, and System Integration

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“…In [Radi et al 2010;Kron and Schmidt 2003] the authors present systems with multimodal feedback, both visual and haptic. Systems with a higher level of embodiment can be found in [Folgheraiter et al 2012]. These works present systems with multimodal feedback where the operator controls a remote robot with a wearable exoskeleton.…”

Section: Related Workmentioning

confidence: 99%

Augmented reality-aided tele-presence system for robot manipulation in industrial manufacturing

Peppoloni

Brizzi

Ruffaldi

et al. 2015

Proceedings of the 21st ACM Symposium on Virtual Reality Software and Technology

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This work investigates the use of a highly immersive telepresence system for industrial robotics. A Robot Operating System integrated framework is presented where a remote robot is controlled through operator's movements and muscle contractions captured with a wearable device. An augmented 3D visual feedback is sent to the user providing the remote environment scenario from the robot's point of view and additional information pertaining to the task execution. The system proposed, using robot mounted RGB-D camera, identifies known objects and relates their pose to robot arm pose and to targets relevant to the task execution. The system is preliminary validated during a pick-and-place task using a Baxter robot. The experiment shows the practicability and the effectiveness of the proposed approach.

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“…This, in general, is not a trivial task due to the fact that, in most of the cases, an improvement in one direction brings inevitably a worsening in the others. Finally when the interface is implemented it is necessary to conduct a long test phase where the control system is finely tuned and the comfort and effectiveness of the prototype is measured by mean of a suitable metric [4], [5]. In the case that the kinematic structure of the robot is relative simple it is possible to represent the optimization problem with a pure analytical approach and use a global or local optimum design process [6].…”

Section: Introductionmentioning

confidence: 99%

Actuation design methodology for haptic interfaces and rehabilitation systems

Folgheraiter

2014

2014 IEEE 8th International Conference on Application of Information and Communication Technologies (AICT)

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Abstract-This paper introduces a methodology and a software framework intended to optimize and speed up the design process of a haptic interface or a rehabilitation system. Starting from an initial mechanical design the procedure allows to export the kinematic and dynamic properties of the robotic system in a simulation environment. The software receives as additional input the Cartesian or joints trajectories and generates as output the required torques at the joints. From the recorded measurements the program extracts the torque ranges necessary to choose a suitable actuation system for the robot. The possibility to run the simulation in batch modality allows also to define different optimization techniques that may be used to reduce the overall system weight or increase its payload.

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Measuring the Improvement of the Interaction Comfort of a Wearable Exoskeleton

Cited by 41 publications

References 40 publications

On the Well-Timed Assistance in Power-Assisted Sit-to-Stand Movement

On the Well-Timed Assistance in Power-Assisted Sit-to-Stand Movement

Augmented reality-aided tele-presence system for robot manipulation in industrial manufacturing

Actuation design methodology for haptic interfaces and rehabilitation systems

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