Development of a 3D Relative Motion Method for Human-Robot Interaction Assessment.

Area of Science:

• Robotics
• Biomechanics
• Human-Robot Interaction

Background:

• Exoskeletons are evaluated using performance indicators, but ergonomic assessment methods for physical interfaces are lacking.
• Existing methods do not sufficiently analyze the complex interactions at the human-exoskeleton interface.

Purpose of the Study:

• To present a novel three-dimensional (3D) relative motion assessment method for evaluating exoskeleton physical interfaces.
• To quantify the orientation differences between a user's limb and an exoskeleton's link.

Main Methods:

• Developed a 3D relative motion assessment technique to measure orientation discrepancies.
• Configured the AGoRA exoskeleton in resistive mode for testing.
• Utilized an optoelectronic system to capture motion data.

Main Results:

• The method quantified orientation differences between the user's limb and exoskeleton links.
• A maximum orientation difference of 41.1 degrees was observed along the sagittal plane.
• The assessment provided insights into human-robot interaction across three principal human planes.

Conclusions:

• The proposed method offers a quantitative approach to assess exoskeleton physical interface ergonomics.
• This technique enhances the understanding of human-robot interaction dynamics.
• It establishes a new performance indicator for exoskeleton physical interfaces.