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A Methodology to Quantify Alterations in Human Upper Limb Movement During Co-Manipulation With an Exoskeleton

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7 Author(s)
JarrasseĢ, N. ; Inst. des Syst. Intelligents et de Robot., Univ. Pierre et Marie Curie - Paris 6, Paris, France ; Tagliabue, M. ; Robertson, J.V.G. ; Maiza, A.
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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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Neural Systems and Rehabilitation Engineering, IEEE Transactions on  (Volume:18 ,  Issue: 4 )