Robotics & Multibody Mechanics (R&MM) Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, 1050 Brussels, Belgium.
Department of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Bogota 111166, Colombia.
Sensors (Basel). 2022 Mar 21;22(6):2411. doi: 10.3390/s22062411.
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.
外骨骼已通过定性和定量特征（称为性能指标）进行了评估。在这些特征中，已经分离出了人体工程学指标，这导致缺乏分析和评估物理接口的方法。在这种情况下，本工作提出了一种三维相对运动评估方法。该方法量化了用户肢体和外骨骼连杆之间的方向差异，从而更深入地了解人机交互。为此，AGoRA 外骨骼在抵抗模式下进行了配置，并使用光电系统进行了评估。交互量化了沿矢状面的最大 41.1 度的方向差异。它扩展了对人机交互的理解，涵盖了三个主要的人体平面。此外，所提出的方法为外骨骼的物理接口建立了一个性能指标。
