2 research outputs found
A subject-specific kinematic model to predict human motion in exoskeleton-assisted gait
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
A subject-specific kinematic model to predict human motion in exoskeleton-assisted gait
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