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

Abstract

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.

Method of Changing Running Direction of Cheetah-Inspired Quadruped Robot

“…Creatures often do not run in only one direction, and they have the ability to move at high speed in 3D space [27,28]. The research on the motion abilities of bio-inspired robots has also expanded from plane motion to 3D space [29,30].…”

Biomechanical Effects of Adding an Ankle Soft Actuation in a Unilateral Exoskeleton

“…Six healthy subjects were evaluated in 6-m walking tests where the relative motion analysis showed transmission loss that can be compensated by the control strategy of the device and the design of the physical interfaces. Therefore, through the kinematic and HRI analysis of the study, the performance of the device can be improved [ 26 ].…”