Exoskeleton kinematic design robustness: An assessment method to account for human variability
Exoskeletons are wearable devices intended to physically assist one or multiple human joints in executing certain activities. From a mechanical point of view, they are kinematic structures arranged in parallel to the biological joints. In order to allow the users to move while assisted, it is crucia...
| Main Authors: | , , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Cambridge University Press
2020-01-01
|
| Series: | Wearable Technologies |
| Subjects: | |
| Online Access: | https://www.cambridge.org/core/product/identifier/S2631717620000079/type/journal_article |
| _version_ | 1811155704070799360 |
|---|---|
| author | Matteo Sposito Christian Di Natali Stefano Toxiri Darwin G. Caldwell Elena De Momi Jesús Ortiz |
| author_facet | Matteo Sposito Christian Di Natali Stefano Toxiri Darwin G. Caldwell Elena De Momi Jesús Ortiz |
| author_sort | Matteo Sposito |
| collection | DOAJ |
| description | Exoskeletons are wearable devices intended to physically assist one or multiple human joints in executing certain activities. From a mechanical point of view, they are kinematic structures arranged in parallel to the biological joints. In order to allow the users to move while assisted, it is crucial to avoid mobility restrictions introduced by the exoskeleton’s kinematics. Passive degrees of freedom and other self-alignment mechanisms are a common option to avoid any restrictions. However, the literature lacks a systematic method to account for large inter- and intra-subject variability in designing and assessing kinematic chains. To this end, we introduce a model-based method to assess the kinematics of exoskeletons by representing restrictions in mobility as disturbances and undesired forces at the anchor points. The method makes use of robotic kinematic tools and generates useful insights to support the design process. Though an application on a back-support exoskeleton designed for lifting tasks is illustrated, the method can describe any type of rigid exoskeleton. A qualitative pilot trial is conducted to assess the kinematic model that proved to predict kinematic configurations associated to rising undesired forces recorded at the anchor points, that give rise to mobility restrictions and discomfort on the users. |
| first_indexed | 2024-04-10T04:39:01Z |
| format | Article |
| id | doaj.art-ceb8d6f100c7401d80c4d160c25655ed |
| institution | Directory Open Access Journal |
| issn | 2631-7176 |
| language | English |
| last_indexed | 2024-04-10T04:39:01Z |
| publishDate | 2020-01-01 |
| publisher | Cambridge University Press |
| record_format | Article |
| series | Wearable Technologies |
| spelling | doaj.art-ceb8d6f100c7401d80c4d160c25655ed2023-03-09T12:43:45ZengCambridge University PressWearable Technologies2631-71762020-01-01110.1017/wtc.2020.7Exoskeleton kinematic design robustness: An assessment method to account for human variabilityMatteo Sposito0https://orcid.org/0000-0002-7442-1399Christian Di Natali1https://orcid.org/0000-0001-7399-7399Stefano Toxiri2Darwin G. Caldwell3Elena De Momi4Jesús Ortiz5Advanced Robotic (ADVR), Istituto Italiano di Tecnologia, Genova, Italy Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milano, ItalyAdvanced Robotic (ADVR), Istituto Italiano di Tecnologia, Genova, ItalyAdvanced Robotic (ADVR), Istituto Italiano di Tecnologia, Genova, ItalyAdvanced Robotic (ADVR), Istituto Italiano di Tecnologia, Genova, ItalyDipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milano, ItalyAdvanced Robotic (ADVR), Istituto Italiano di Tecnologia, Genova, ItalyExoskeletons are wearable devices intended to physically assist one or multiple human joints in executing certain activities. From a mechanical point of view, they are kinematic structures arranged in parallel to the biological joints. In order to allow the users to move while assisted, it is crucial to avoid mobility restrictions introduced by the exoskeleton’s kinematics. Passive degrees of freedom and other self-alignment mechanisms are a common option to avoid any restrictions. However, the literature lacks a systematic method to account for large inter- and intra-subject variability in designing and assessing kinematic chains. To this end, we introduce a model-based method to assess the kinematics of exoskeletons by representing restrictions in mobility as disturbances and undesired forces at the anchor points. The method makes use of robotic kinematic tools and generates useful insights to support the design process. Though an application on a back-support exoskeleton designed for lifting tasks is illustrated, the method can describe any type of rigid exoskeleton. A qualitative pilot trial is conducted to assess the kinematic model that proved to predict kinematic configurations associated to rising undesired forces recorded at the anchor points, that give rise to mobility restrictions and discomfort on the users.https://www.cambridge.org/core/product/identifier/S2631717620000079/type/journal_articleExoskeletonsDesignPerformance characterisationHuman in the loop optimisationIndustry |
| spellingShingle | Matteo Sposito Christian Di Natali Stefano Toxiri Darwin G. Caldwell Elena De Momi Jesús Ortiz Exoskeleton kinematic design robustness: An assessment method to account for human variability Wearable Technologies Exoskeletons Design Performance characterisation Human in the loop optimisation Industry |
| title | Exoskeleton kinematic design robustness: An assessment method to account for human variability |
| title_full | Exoskeleton kinematic design robustness: An assessment method to account for human variability |
| title_fullStr | Exoskeleton kinematic design robustness: An assessment method to account for human variability |
| title_full_unstemmed | Exoskeleton kinematic design robustness: An assessment method to account for human variability |
| title_short | Exoskeleton kinematic design robustness: An assessment method to account for human variability |
| title_sort | exoskeleton kinematic design robustness an assessment method to account for human variability |
| topic | Exoskeletons Design Performance characterisation Human in the loop optimisation Industry |
| url | https://www.cambridge.org/core/product/identifier/S2631717620000079/type/journal_article |
| work_keys_str_mv | AT matteosposito exoskeletonkinematicdesignrobustnessanassessmentmethodtoaccountforhumanvariability AT christiandinatali exoskeletonkinematicdesignrobustnessanassessmentmethodtoaccountforhumanvariability AT stefanotoxiri exoskeletonkinematicdesignrobustnessanassessmentmethodtoaccountforhumanvariability AT darwingcaldwell exoskeletonkinematicdesignrobustnessanassessmentmethodtoaccountforhumanvariability AT elenademomi exoskeletonkinematicdesignrobustnessanassessmentmethodtoaccountforhumanvariability AT jesusortiz exoskeletonkinematicdesignrobustnessanassessmentmethodtoaccountforhumanvariability |