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Quantifying the human-robot interaction forces between a lower limb exoskeleton and healthy users.

Ashish Rathore, Matthew Wilcox, Dafne Zuleima Morgado Ramirez

    Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference
    |March 9, 2017
    PubMed
    Summary
    This summary is machine-generated.

    Researchers developed a real-time force measuring system for robotic exoskeletons used by spinal cord injury (SCI) patients. This system identified high-pressure areas, crucial for preventing skin lesions and pressure ulcers during exoskeleton use.

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    Area of Science:

    • Biomedical Engineering
    • Rehabilitation Robotics
    • Human-Robot Interaction

    Background:

    • Prolonged wheelchair use presents challenges for spinal cord injury (SCI) patients.
    • Robotic exoskeletons offer a potential solution, but understanding user-exoskeleton forces is critical.
    • SCI patients are susceptible to skin lesions and pressure ulcers due to impaired sensation and mobility.

    Purpose of the Study:

    • To quantify the forces at the physical human-robot interface (pHRI) of a lower limb robotic exoskeleton.
    • To identify force distribution patterns during typical stepping actions.
    • To inform the design of safer and more effective exoskeletons for SCI patients.

    Main Methods:

    • Development of a real-time force measuring apparatus for the exoskeleton's pHRI.
    • Experimental capture of interaction forces during various stepping actions.
    • Analysis of force data, including peak forces and differences between sensor locations.

    Main Results:

    • Peak forces were concentrated on the anterior aspects of both legs, areas prone to pressure ulcer development.
    • Significant differences in average forces were observed between anterior and posterior sensors on the right thigh during the swing phase.
    • Force patterns varied with different movement primitives.

    Conclusions:

    • Instrumented straps are recommended for integration into lower limb exoskeletons to monitor and manage interface forces.
    • These instrumented straps could serve as an alternative or complementary interface for advanced exoskeleton control in specific patient populations.
    • Understanding force dynamics is essential for mitigating risks and optimizing exoskeleton use in SCI rehabilitation.