Abstract
Different studies have been conducted to assess the performance of several features of exoskeletons. One of the most critical component is the physical interfaces which transfer the energy to the user. Nevertheless, they have been isolated within the assessment process. In this sense, this work presents a 3D relative motion methodology to evaluate a lower-limb exoskeleton’s physical interfaces. One male subject wore the AGoRA exoskeleton to apply the proposed methodology using an optoelectronic system. Kinematic results showed the 3D human-robot interaction (HRI) of the user’s thigh, identifying an undesired degree of freedom of 36.5\(^{\circ }\) among the gait cycle. Hence, the implications of this analysis provide a comprehensive indicator of physical interface’s performance.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
M.D.C. Sanchez-Villamañan, J. Gonzalez-Vargas, D. Torricelli, et al., Compliant lower limb exoskeletons: a comprehensive review on mechanical design principles. J. NeuroEng. Rehabil. (2019)
D. Pinto-Fernandez, D. Torricelli, M.D.C. Sanchez-Villamanan, et al., Performance evaluation of lower limb exoskeletons: a systematic review. IEEE Trans. Neural Syst. Rehabil. Eng. (2020)
J. Li, S. Zuo, C. Xu et al., Influence of a compatible design on physical human-robot interaction force: a case study of a self-adapting lower-limb exoskeleton mechanism. J. Intell. Robot. Syst. Theory Appl. 98, 525–538 (2020)
K. Langlois, M. Moltedo, T. Bacek, et al., Design and development of customized physical interfaces to reduce relative motion between the user and a powered ankle foot exoskeleton, in 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob) (IEEE, 2018), pp. 1083–1088
M. Sanchez-Manchola, D. Gomez-Vargas, D. Casas-Bocanegra, Development of a robotic lower-limb exoskeleton for gait rehabilitation: AGoRA exoskeleton, in IEEE ANDESCON (IEEE,2018), pp. 1–6
M.P. Kadaba, H.K. Ramakrishnan, M.E. Wootten, Measurement of lower extremity kinematics during level walking. J. Orthop. Res. 383–392 (1990)
Acknowledgements
This work was financially supported by the Minciencias grant (801-2017) and (845-2020), and internal fundings from the Colombian School of Engineering Julio Garavito, EPF Graduate School of Engineering, and Institut de Biomnique Humaine Georges Charpak.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Ballen-Moreno, F., Cifuentes, C.A., Provot, T., Bourgain, M., Múnera, M. (2022). 3D Relative Motion Assessment in Lower-Limb Exoskeletons: A Case of Study with AGoRA Exoskeleton. In: Moreno, J.C., Masood, J., Schneider, U., Maufroy, C., Pons, J.L. (eds) Wearable Robotics: Challenges and Trends. WeRob 2020. Biosystems & Biorobotics, vol 27. Springer, Cham. https://doi.org/10.1007/978-3-030-69547-7_102
Download citation
DOI: https://doi.org/10.1007/978-3-030-69547-7_102
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-69546-0
Online ISBN: 978-3-030-69547-7
eBook Packages: EngineeringEngineering (R0)