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Development of a Novel Task-oriented Rehabilitation Program using a Bimanual Exoskeleton Robotic Hand
Published on: May 20, 2020
A methodology to quantify alterations in human upper limb movement during co-manipulation with an exoskeleton
Nathanael Jarrassé1, Michele Tagliabue, Johanna V G Robertson
1ISIR-UPMC, Institut des Systèmes Intelligents et de Robotique, CNRS UMR 7222, Université Pierreet Marie Curie, 75252 Paris Cedex, France. jarrasse@isir.upmc.fr
Summary
This study introduces a new methodology and performance indicators to assess how well robotic exoskeletons interact with human limbs during rehabilitation. The proposed method enables precise evaluation of exoskeleton-human interaction for advanced robotic therapy.
Area of Science:
- Rehabilitation Robotics
- Human-Robot Interaction
- Biomechanics
Background:
- Robotic exoskeletons are increasingly used in rehabilitation.
- Current methods lack standardized indicators to evaluate fine human-limb interaction.
- This gap hinders the assessment of robotic systems for complex rehabilitation tasks.
Purpose of the Study:
- To propose a general methodology for evaluating fine human-exoskeleton interaction.
- To introduce a set of simple indicators for controlled interaction assessment.
- To provide a framework for characterizing exoskeleton performance in rehabilitation.
Main Methods:
- Development of a general methodology for interaction analysis.
- Inclusion of measurement and recording of positions and forces.
- Application of the method to a 4 degrees-of-freedom limb exoskeleton.
Main Results:
- A novel methodology for evaluating exoskeleton-human limb interaction was established.
- Simple indicators were defined to quantify interaction quality.
- The methodology was successfully demonstrated on a specific exoskeleton model.
Conclusions:
- The proposed methodology offers a standardized approach to assess robotic exoskeleton interaction.
- This framework is crucial for advancing robotic rehabilitation, particularly for 3-D movements and joint coordination.
- The developed indicators facilitate objective performance evaluation in rehabilitation robotics.
