Meyer Jan T, Schrade Stefan O, Lambercy Olivier, Gassert Roger
IEEE Int Conf Rehabil Robot. 2019 Jun;2019:1159-1166. doi: 10.1109/ICORR.2019.8779527.
Over the last decade, the use of wearable exoskeletons for human locomotion assistance has become more feasible. The VariLeg powered lower limb robotic exoskeleton is an example of such systems, potentially enabling paraplegic users to perform upright activities of daily living. The acceptance of this type of robotic assistive technologies is often still affected by limited usability, in particular regarding the physical interface between the exoskeleton and the user (here referred to as pilot). In this study, we proposed and evaluated a novel pilot attachment system (PAS), which was designed based on user-centered design with experienced paraplegic exoskeleton users. Subjective assessments to compare usability aspects of the initial and the redesigned physical interfaces were conducted with two paraplegic and five healthy pilots. The redesigned PAS showed a 45% increase in the system usability scale (SUS), normalized to the PAS of a commercial exoskeleton assessed in the same manner. Pain rating scales assessed with healthy pilots indicated an increased comfort using the redesigned PAS while performing several activities of daily living. Overall, an improvement in usability relative to the initial PAS was achieved through intensified user evaluation and individual needs assessments. Hence, a user-centered design of physical body-machine interfaces has the potential to positively influence the usability and acceptance of lower limb exoskeletons for paraplegic users.
在过去十年中，使用可穿戴外骨骼来辅助人类行走变得更加可行。VariLeg动力下肢机器人外骨骼就是这类系统的一个例子，它有可能使截瘫用户能够进行直立的日常生活活动。这类机器人辅助技术的接受度往往仍受到可用性有限的影响，特别是在外骨骼与用户（这里称为试验者）之间的物理接口方面。在本研究中，我们提出并评估了一种新型的试验者附着系统（PAS），它是基于以用户为中心的设计理念，与有经验的截瘫外骨骼用户共同设计的。我们对两名截瘫试验者和五名健康试验者进行了主观评估，以比较初始物理接口和重新设计的物理接口在可用性方面的差异。重新设计的PAS的系统可用性量表（SUS）增加了45%，与以相同方式评估的商用外骨骼的PAS进行了归一化处理。健康试验者使用疼痛评定量表评估表明，在进行多项日常生活活动时，使用重新设计的PAS舒适度有所提高。总体而言，通过加强用户评估和个人需求评估，相对于初始PAS，可用性得到了改善。因此，以用户为中心的物理人机接口设计有可能对截瘫用户使用下肢外骨骼的可用性和接受度产生积极影响。
