Exoskeleton kinematic design robustness: An assessment method to account for human variability

Area of Science:

• Robotics
• Biomechanics
• Human-Machine Interaction

Background:

• Exoskeletons assist human joints but can restrict natural movement.
• Existing design methods struggle with individual user variability.
• A systematic approach is needed to evaluate exoskeleton kinematics and user comfort.

Purpose of the Study:

• To introduce a model-based method for assessing exoskeleton kinematics.
• To account for inter- and intra-subject variability in exoskeleton design.
• To predict and mitigate mobility restrictions and user discomfort.

Main Methods:

• Representing mobility restrictions as disturbances and forces at anchor points.
• Utilizing robotic kinematic tools for analysis.
• Developing a model applicable to various rigid exoskeleton types.

Main Results:

• The kinematic model successfully predicted configurations leading to undesired forces.
• These forces correlated with user mobility restrictions and discomfort.
• The method provides insights for exoskeleton design optimization.

Conclusions:

• The proposed model-based method offers a systematic way to assess exoskeleton kinematics.
• It effectively identifies design flaws causing user discomfort.
• This approach supports the development of improved, user-centric wearable robotic devices.