A methodology to quantify alterations in human upper limb movement during co-manipulation with an exoskeleton

IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society
Nathanael JarrasséGuillaume Morel

Abstract

While a large number of robotic exoskeletons have been designed by research teams for rehabilitation, it remains rather difficult to analyse their ability to finely interact with a human limb: no performance indicators or general methodology to characterize this capacity really exist. This is particularly regretful at a time when robotics are becoming a recognized rehabilitation method and when complex problems such as 3-D movement rehabilitation and joint rotation coordination are being addressed. The aim of this paper is to propose a general methodology to evaluate, through a reduced set of simple indicators, the ability of an exoskeleton to interact finely and in a controlled way with a human. The method involves measurement and recording of positions and forces during 3-D point to point tasks. It is applied to a 4 degrees-of-freedom limb exoskeleton by way of example.

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Citations

Apr 10, 2013·International Journal of Computer Assisted Radiology and Surgery·Vincent TrévillotLouis Crampette
Apr 3, 2012·Journal of Neuroengineering and Rehabilitation·David J Reinkensmeyer, Michael L Boninger
Jan 24, 2016·Journal of Neuroengineering and Rehabilitation·Elvira PirondiniSilvestro Micera
Apr 7, 2012·IEEE Transactions on Neural Systems and Rehabilitation Engineering : a Publication of the IEEE Engineering in Medicine and Biology Society·Vincent CrocherGuillaume Morel
Dec 19, 2014·Frontiers in Human Neuroscience·Nathanaël JarrasséAgnès Roby-Brami
Apr 14, 2016·IEEE Reviews in Biomedical Engineering·Tommaso ProiettiNathanael Jarrasse
Nov 2, 2017·Computer Methods in Biomechanics and Biomedical Engineering·S BastideB Berret
Feb 23, 2019·Journal of Neuroengineering and Rehabilitation·Michele XiloyannisLorenzo Masia
Jun 14, 2017·Journal of Neuroengineering and Rehabilitation·Tommaso ProiettiNathanaël Jarrassé

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