Analysis of human-exoskeleton interactions: an elbow flexion/extension case study

Bastide, Simon; Vignais, Nicolas; Geffard, Franck; Berret, Bastien

doi:10.1080/10255842.2017.1382835

Cited by 4 publications

(3 citation statements)

References 9 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…This slowing down of movements is consistent with previous findings investigating the effects of interactions with an exoskeleton on human motion [58], but its underlying cause is not entirely clear. We think that one or a combination of two mechanisms may be at play here: (1) Desmurget et al [59] have shown that movements constrained by contact with an external body (in this case the exosuit), involve a fundamentally different control strategy from unconstrained movements, which can affect their duration.…”

Section: Discussionsupporting

confidence: 90%

Physiological and kinematic effects of a soft exosuit on arm movements

Xiloyannis

Chiaradia

Frisoli

et al. 2019

J NeuroEngineering Rehabil

110

102

View full text Add to dashboard Cite

Background Soft wearable robots (exosuits), being lightweight, ergonomic and low power-demanding, are attractive for a variety of applications, ranging from strength augmentation in industrial scenarios, to medical assistance for people with motor impairments. Understanding how these devices affect the physiology and mechanics of human movements is fundamental for quantifying their benefits and drawbacks, assessing their suitability for different applications and guiding a continuous design refinement. Methods We present a novel wearable exosuit for assistance/augmentation of the elbow and introduce a controller that compensates for gravitational forces acting on the limb while allowing the suit to cooperatively move with its wearer. Eight healthy subjects wore the exosuit and performed elbow movements in two conditions: with assistance from the device (powered) and without assistance (unpowered). The test included a dynamic task, to evaluate the impact of the assistance on the kinematics and dynamics of human movement, and an isometric task, to assess its influence on the onset of muscular fatigue. Results Powered movements showed a low but significant degradation in accuracy and smoothness when compared to the unpowered ones. The degradation in kinematics was accompanied by an average reduction of 59.20±5.58 % (mean ± standard error) of the biological torque and 64.8±7.66 % drop in muscular effort when the exosuit assisted its wearer. Furthermore, an analysis of the electromyographic signals of the biceps brachii during the isometric task revealed that the exosuit delays the onset of muscular fatigue. Conclusions The study examined the effects of an exosuit on the characteristics of human movements. The suit supports most of the power needed to move and reduces the effort that the subject needs to exert to counteract gravity in a static posture, delaying the onset of muscular fatigue. We interpret the decline in kinematic performance as a technical limitation of the current device. This work suggests that a powered exosuit can be a good candidate for industrial and clinical applications, where task efficiency and hardware transparency are paramount. Electronic supplementary material The online version of this article (10.1186/s12984-019-0495-y) contains supplementary material, which is available to authorized users.

show abstract

Section: Discussionsupporting

confidence: 90%

Physiological and kinematic effects of a soft exosuit on arm movements

Xiloyannis

Chiaradia

Frisoli

et al. 2019

J NeuroEngineering Rehabil

110

102

View full text Add to dashboard Cite

show abstract

“…This could be explained by an assistance of the movement of the HAPO which is accompanied by the thighs allowing the spine to bend less and thus limiting the articular constraints of the spine. Subject 1 has a decreased range of motion but a longer movement time with the use of the HAPO according to the studies of Jarassé [12] and Bastide [13]. Thus, there is certainly a smaller range of motion, but the person loses time to complete the task.…”

Section: Discussionmentioning

confidence: 99%

Motion capture and myoelectric multimodal measurements during static and dynamic bending tasks using a back assisting exoskeleton: a preliminary study

Jelti¹,

Lebel²,

Letellier³

et al. 2021

Multimodal Sensing and Artificial Intelligence: Technologies and Applications II

View full text Add to dashboard Cite

Work-related musculoskeletal disorders are causing occupational diseases. While allowing them to control the execution of their picking task, one solution to physically relieve workers performing trunk flexions is to assist them with an exoskeleton. This preliminary study focuses on the determination of the appropriate measurements systems (motion capture and electromyography) to characterize dedicated trajectories of movements responsible of lower back pathologies. Three tests have been realized with and without a back-assisting exoskeleton for loaded box picking. The results of the study help us to understand which body strategies were used to perform the same task from one individual to another under different conditions. This preliminary study validates this multimodal approach to show the use of a back-assisting exoskeleton for posture harness in dynamic conditions.

show abstract

“…Studies evaluating the effect of soft wearable robots on the biomechanics of the upper limbs.interactions with an exoskeleton on human motion[111], but its underlying cause is not entirely clear. We think that one or a combination of two mechanisms may be at play here: (1) Desmurget et al[112] have shown that movements constrained by contact with an external body (in this case the exosuit), involve a fundamentally different control strategy from unconstrained movements, which can affect their duration.…”

mentioning

confidence: 99%

Development and validation of a soft robotic exosuit for assistance of the upper limbs

Xiloyannis¹

View full text Add to dashboard Cite

Preliminary design and control of a soft exosuit for assisting elbow movements and hand grasping in activities of daily living", in Rehabilitation and Assistive Technology Engineering (RATE), vol. 4, 2017. Authors' contribution: MX, LC and LM designed the exosuit. DBK, MX and LM developed the controller. DBK, MX and LM designed the experiment. DBK and MX performed the experiment. DBK, MX, LC and LM analysed and interpreted the data. MX and LM prepared the manuscript. All authors provided critical feedback on the manuscript. All authors read and approved the final manuscript. Section 3.4.1,3.4.2 and 3.4.3 are based on the following manuscripts:

show abstract

Analysis of human-exoskeleton interactions: an elbow flexion/extension case study

Cited by 4 publications

References 9 publications

Physiological and kinematic effects of a soft exosuit on arm movements

Physiological and kinematic effects of a soft exosuit on arm movements

Motion capture and myoelectric multimodal measurements during static and dynamic bending tasks using a back assisting exoskeleton: a preliminary study

Development and validation of a soft robotic exosuit for assistance of the upper limbs

Contact Info

Product

Resources

About