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Development of a 3D Relative Motion Method for Human–Robot Interaction Assessment

Tijdschriftbijdrage - Tijdschriftartikel

Exoskeletons have been assessed by qualitative and quantitative features known as performance indicators. Within these, the ergonomic indicators have been isolated, creating a lack of methodologies to analyze and assess physical interfaces. In this sense, this work presents a three-dimensional relative motion assessment method. This method quantifies the difference of orientation between the user’s limb and the exoskeleton link, providing a deeper understanding of the Human–Robot interaction. To this end, the AGoRA exoskeleton was configured in a resistive mode and assessed using an optoelectronic system. The interaction quantified a difference of orientation considerably at a maximum value of 41.1 degrees along the sagittal plane. It extended the understanding of the Human–Robot Interaction throughout the three principal human planes. Furthermore, the proposed method establishes a performance indicator of the physical interfaces of an exoskeleton.
Tijdschrift: Sensors (Switzerland)
ISSN: 1424-8220
Issue: 6
Volume: 22
Jaar van publicatie:2022
Trefwoorden:exoskeleton, human robot interaction (HRI), relative motion
Toegankelijkheid:Open