Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton
Active upper limb exoskeletons are a potentially powerful tool for neuromotor rehabilitation. This potential depends on several basic control modes, one of them being transparency. In this control mode, the exoskeleton must follow the human movement without altering it, which theoretically implies n...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2024-01-01
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| Series: | Frontiers in Robotics and AI |
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| Online Access: | https://www.frontiersin.org/articles/10.3389/frobt.2024.1308958/full |
| _version_ | 1797347916746063872 |
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| author | Dorian Verdel Dorian Verdel Dorian Verdel Dorian Verdel Anais Farr Anais Farr Anais Farr Thibault Devienne Thibault Devienne Thibault Devienne Nicolas Vignais Nicolas Vignais Bastien Berret Bastien Berret Olivier Bruneau |
| author_facet | Dorian Verdel Dorian Verdel Dorian Verdel Dorian Verdel Anais Farr Anais Farr Anais Farr Thibault Devienne Thibault Devienne Thibault Devienne Nicolas Vignais Nicolas Vignais Bastien Berret Bastien Berret Olivier Bruneau |
| author_sort | Dorian Verdel |
| collection | DOAJ |
| description | Active upper limb exoskeletons are a potentially powerful tool for neuromotor rehabilitation. This potential depends on several basic control modes, one of them being transparency. In this control mode, the exoskeleton must follow the human movement without altering it, which theoretically implies null interaction efforts. Reaching high, albeit imperfect, levels of transparency requires both an adequate control method and an in-depth evaluation of the impacts of the exoskeleton on human movement. The present paper introduces such an evaluation for three different “transparent” controllers either based on an identification of the dynamics of the exoskeleton, or on force feedback control or on their combination. Therefore, these controllers are likely to induce clearly different levels of transparency by design. The conducted investigations could allow to better understand how humans adapt to transparent controllers, which are necessarily imperfect. A group of fourteen participants were subjected to these three controllers while performing reaching movements in a parasagittal plane. The subsequent analyses were conducted in terms of interaction efforts, kinematics, electromyographic signals and ergonomic feedback questionnaires. Results showed that, when subjected to less performing transparent controllers, participants strategies tended to induce relatively high interaction efforts, with higher muscle activity, which resulted in a small sensitivity of kinematic metrics. In other words, very different residual interaction efforts do not necessarily induce very different movement kinematics. Such a behavior could be explained by a natural human tendency to expend effort to preserve their preferred kinematics, which should be taken into account in future transparent controllers evaluation. |
| first_indexed | 2024-03-08T11:55:51Z |
| format | Article |
| id | doaj.art-d85990de91854f2d8853ecc9da4be3cb |
| institution | Directory Open Access Journal |
| issn | 2296-9144 |
| language | English |
| last_indexed | 2024-03-08T11:55:51Z |
| publishDate | 2024-01-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Robotics and AI |
| spelling | doaj.art-d85990de91854f2d8853ecc9da4be3cb2024-01-24T04:31:24ZengFrontiers Media S.A.Frontiers in Robotics and AI2296-91442024-01-011110.3389/frobt.2024.13089581308958Human movement modifications induced by different levels of transparency of an active upper limb exoskeletonDorian Verdel0Dorian Verdel1Dorian Verdel2Dorian Verdel3Anais Farr4Anais Farr5Anais Farr6Thibault Devienne7Thibault Devienne8Thibault Devienne9Nicolas Vignais10Nicolas Vignais11Bastien Berret12Bastien Berret13Olivier Bruneau14Complexité, Innovation, Activités Motrices et Sportives, Sport Sciences Department, Université Paris-Saclay, Orsay, FranceComplexité, Innovation, Activités Motrices et Sportives, Université d’Orléans, Orléans, FranceLaboratoire Universitaire de Recherche en Production Automatisée, Mechanical Engineering Department, ENS Paris-Saclay, Université Paris-Saclay, Gif-sur-Yvette, FranceHuman Robotics Group, Department of Bioengineering, Imperial College of Science, Technology and Medicine, London, United-KingdomComplexité, Innovation, Activités Motrices et Sportives, Sport Sciences Department, Université Paris-Saclay, Orsay, FranceComplexité, Innovation, Activités Motrices et Sportives, Université d’Orléans, Orléans, FranceENS Rennes, Bruz, FranceComplexité, Innovation, Activités Motrices et Sportives, Sport Sciences Department, Université Paris-Saclay, Orsay, FranceComplexité, Innovation, Activités Motrices et Sportives, Université d’Orléans, Orléans, FranceCentrale Supelec, Université Paris-Saclay, Gif-sur-Yvette, FranceComplexité, Innovation, Activités Motrices et Sportives, Sport Sciences Department, Université Paris-Saclay, Orsay, FranceComplexité, Innovation, Activités Motrices et Sportives, Université d’Orléans, Orléans, FranceComplexité, Innovation, Activités Motrices et Sportives, Sport Sciences Department, Université Paris-Saclay, Orsay, FranceComplexité, Innovation, Activités Motrices et Sportives, Université d’Orléans, Orléans, FranceLaboratoire Universitaire de Recherche en Production Automatisée, Mechanical Engineering Department, ENS Paris-Saclay, Université Paris-Saclay, Gif-sur-Yvette, FranceActive upper limb exoskeletons are a potentially powerful tool for neuromotor rehabilitation. This potential depends on several basic control modes, one of them being transparency. In this control mode, the exoskeleton must follow the human movement without altering it, which theoretically implies null interaction efforts. Reaching high, albeit imperfect, levels of transparency requires both an adequate control method and an in-depth evaluation of the impacts of the exoskeleton on human movement. The present paper introduces such an evaluation for three different “transparent” controllers either based on an identification of the dynamics of the exoskeleton, or on force feedback control or on their combination. Therefore, these controllers are likely to induce clearly different levels of transparency by design. The conducted investigations could allow to better understand how humans adapt to transparent controllers, which are necessarily imperfect. A group of fourteen participants were subjected to these three controllers while performing reaching movements in a parasagittal plane. The subsequent analyses were conducted in terms of interaction efforts, kinematics, electromyographic signals and ergonomic feedback questionnaires. Results showed that, when subjected to less performing transparent controllers, participants strategies tended to induce relatively high interaction efforts, with higher muscle activity, which resulted in a small sensitivity of kinematic metrics. In other words, very different residual interaction efforts do not necessarily induce very different movement kinematics. Such a behavior could be explained by a natural human tendency to expend effort to preserve their preferred kinematics, which should be taken into account in future transparent controllers evaluation.https://www.frontiersin.org/articles/10.3389/frobt.2024.1308958/fullhuman-exoskeleton interactiontransparencyexoskeleton controlforce controlperformance metrics |
| spellingShingle | Dorian Verdel Dorian Verdel Dorian Verdel Dorian Verdel Anais Farr Anais Farr Anais Farr Thibault Devienne Thibault Devienne Thibault Devienne Nicolas Vignais Nicolas Vignais Bastien Berret Bastien Berret Olivier Bruneau Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton Frontiers in Robotics and AI human-exoskeleton interaction transparency exoskeleton control force control performance metrics |
| title | Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton |
| title_full | Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton |
| title_fullStr | Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton |
| title_full_unstemmed | Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton |
| title_short | Human movement modifications induced by different levels of transparency of an active upper limb exoskeleton |
| title_sort | human movement modifications induced by different levels of transparency of an active upper limb exoskeleton |
| topic | human-exoskeleton interaction transparency exoskeleton control force control performance metrics |
| url | https://www.frontiersin.org/articles/10.3389/frobt.2024.1308958/full |
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