< Back to previous page
Project
OZR Backup mandate: AIR-exo : Active physical interfaces for robotics exoskeletons (OZR4007)
Exoskeletons can be deployed for various purposes, including rehabilitation, power augmentation and assistance. As such, they present a tremendous economic potential. Since exoskeletons interact closely with humans, one of the major concerns in their design is safety and comfort. These aspects are strongly conditioned by the physical interface between the user and the exoskeleton. Excessive loading in these interfaces can potentially cause skin
damage and pressure ulcers. A lot of research has been dedicated to understanding the causes of these harms, relating it to e.g. the pressure exerted on the skin or the tightness of the straps. Still, there has been little research on how pressure can be constrained within safe bounds by controlling it with an active system. Another barrier to widespread adoption is donning and doffing of the exoskeleton,
which is often time-consuming. This, too, could be resolved with an active system. Finally, optimal placement of the physical interface is limited due to the slippage that can occur during motion with the exoskeleton. By combining an active system and pressure readings at the physical level, slippage can be identified and alleviate the issue. This project proposes novel physical interfaces with integrated
active elements to facilitate and automate donning and doffing and to adapt to users with different physiology, while keeping high standards in safety and comfort.
damage and pressure ulcers. A lot of research has been dedicated to understanding the causes of these harms, relating it to e.g. the pressure exerted on the skin or the tightness of the straps. Still, there has been little research on how pressure can be constrained within safe bounds by controlling it with an active system. Another barrier to widespread adoption is donning and doffing of the exoskeleton,
which is often time-consuming. This, too, could be resolved with an active system. Finally, optimal placement of the physical interface is limited due to the slippage that can occur during motion with the exoskeleton. By combining an active system and pressure readings at the physical level, slippage can be identified and alleviate the issue. This project proposes novel physical interfaces with integrated
active elements to facilitate and automate donning and doffing and to adapt to users with different physiology, while keeping high standards in safety and comfort.
Date:1 Nov 2022 → 31 Oct 2023
Keywords:Wearable robot, Physical human-robot interaction, Ergonomy
Disciplines:Kinematics and dynamics, Robot manipulation and interfaces, Sensing, estimation and actuating, Software and data acquisition