Development of a 3D Relative Motion Method for Human–Robot Interaction Assessment - Archive ouverte HAL
Article Dans Une Revue Sensors Année : 2022

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

Résumé

Exoskeletons have been assessed by qualitative and quantitative features known as performance indicators. Within these, the ergonomic indicators have been isolated, creating a lack of methodologies to analyze and assess physical interfaces. In this sense, this work presents a three-dimensional relative motion assessment method. This method quantifies the difference of orientation between the user’s limb and the exoskeleton link, providing a deeper understanding of the Human–Robot interaction. To this end, the AGoRA exoskeleton was configured in a resistive mode and assessed using an optoelectronic system. The interaction quantified a difference of orientation considerably at a maximum value of 41.1 degrees along the sagittal plane. It extended the understanding of the Human–Robot Interaction throughout the three principal human planes. Furthermore, the proposed method establishes a performance indicator of the physical interfaces of an exoskeleton.

Dates et versions

hal-04733474 , version 1 (12-10-2024)

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Citer

Felipe Ballen-Moreno, Margarita Bautista, Thomas Provot, Maxime Bourgain, Carlos Cifuentes, et al.. Development of a 3D Relative Motion Method for Human–Robot Interaction Assessment. Sensors, 2022, 22 (6), pp.2411. ⟨10.3390/s22062411⟩. ⟨hal-04733474⟩
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