Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans

Torricelli, Diego; González-Vargas, José; Veneman, Jan F.; Mombaur, Katja; Tsagarakis, Nikos G.; del-Ama, Antonio J.; Gil-Agudo, Ángel; Moreno, Juan C.; Pons, José L.

doi:10.1109/mra.2015.2448278

Cited by 59 publications

(60 citation statements)

References 17 publications

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“…2), structured to progress from simple, controlled laboratory measurements to more complex, real-world military specific tasks and duties. 21 The progression of activities is such that negative outcomes found at a particular stage can be provided to the system designers so that the exoskeleton design can be changed before the next iteration of the study. By including a variety of tasks in the assessment, those activities that the device may augment and those for which it imposes a cost can be highlighted and identified.…”

Section: Assessment and Evaluation Methodologiesmentioning

confidence: 99%

“…21 In line with this suggestion, an initial set of basic and applied military specific tasks for assessing lower body exoskeletons has been developed by Carlson et al 22 The authors 22 provided a readily accessible methodology that was low cost, and intended as a high-level assessment to inform initial designs and concepts. As such, the methods described did not include details of task parameters or objective and subjective metrics, as has been recommended by Torricelli et al 21 Therefore, the absence of traditional laboratory measurements significantly reduces the scientific rigour and reliability of the potential findings from the tasks described by Carlson et al 22 Transparency in the literature regarding design details and the effect of the device on human performance will expedite the rate at which technology matures, the likelihood of such products being fielded 23 and the military impact of this new technology. As such, in addition to in-house testing, independent and impartial evaluations offer an unbiased insight into a device's performance, shortcomings and potential use cases/applications.…”

Section: Introductionmentioning

confidence: 99%

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Consensus paper on testing and evaluation of military exoskeletons for the dismounted combatant

Mudie

Boynton

Karakolis

et al. 2018

Journal of Science and Medicine in Sport

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Enhancing the capabilities of the dismounted combatant has been an enduring goal of international military research communities. Emerging developments in exoskeleton technology offers the potential to augment the dismounted combatant's capabilities. However, the ability to determine the value proposition of an exoskeleton in a military context is difficult due to the variety of methods and metrics used to evaluate previous devices. The aim of this paper was to present a standard framework for the evaluation and assessment of exoskeletons for use in the military. A structured and systematic methodology was developed from the end-user perspective and progresses from controlled laboratory conditions (Stage A), to simulated movements specific to the dismounted combatant (Stage B), and real-world military specific tasks (Stage C). A standard set of objective and subjective metrics were described to ensure a holistic assessment on the human response to wearing the exoskeleton and the device's mechanical performance during each stage. A standardised methodology will ensure further advancement of exoskeleton technology and support improved international collaboration across research and industry groups. In doing so, this better enables international military groups to evaluate a system's potential, with the hope of accelerating the maturity and ultimately the fielding of devices to augment the dismounted close combatant and small team capability.

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Section: Assessment and Evaluation Methodologiesmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Consensus paper on testing and evaluation of military exoskeletons for the dismounted combatant

Mudie

Boynton

Karakolis

et al. 2018

Journal of Science and Medicine in Sport

View full text Add to dashboard Cite

show abstract

“…Fourteen of these test methods have been exercised by a human user with and without wearing an exoskeleton. The function of the test methods is not dissimilar to elements of the benchmarking scheme presented in Torricelli et al [19], although disturbances like pushes and the use of treadmills are not considered.…”

Section: Test Methods Developmentmentioning

confidence: 99%

Preliminary Development of Test Methods to Evaluate Lower Body Wearable Robots for Human Performance Augmentation

Carlson¹,

Norton²,

Yanco³

2016

Advances in Cooperative Robotics

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Wearable robotics are prevalent in the medical domain for prosthetic and rehabilitation uses, and those for performance augmentation of able bodied people for industrial and military domains are also on the rise. Some common metrics exist for evaluating these systems, such as metabolic cost, but they are incomplete with regards to the many other characteristics to be compared between systems. To this end, we are developing holistic test methods, specifically those for lower body wearable robots focused on performance augmentation. We discuss the test methods' structure, considerations, and development. Prototypes of the test methods have been exercised with a user wearing a B-Temia Dermoskeleton system. Our initial development has led to a baseline set of basic and applied tasks that can be evaluated comparatively between performing the task without and with the system, measuring simple task-based metrics based on time, repetitions, loading capacity, and range of motion. Future work includes exercising the test methods with more wearable robotic systems and formulating a working task group to assist in driving development.

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“…The quantitative assessment of robotic performance is a critical issue in rehabilitation robotics (Torricelli et al, 2015b ). The increasing number of wearable robots available in the market has triggered the strong need for reliable methods to compare the existing solutions on a common basis.…”

Section: Introductionmentioning

confidence: 99%

A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait

et al. 2018

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The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton.

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Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans

Cited by 59 publications

References 17 publications

Consensus paper on testing and evaluation of military exoskeletons for the dismounted combatant

Consensus paper on testing and evaluation of military exoskeletons for the dismounted combatant

Preliminary Development of Test Methods to Evaluate Lower Body Wearable Robots for Human Performance Augmentation

A Subject-Specific Kinematic Model to Predict Human Motion in Exoskeleton-Assisted Gait

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