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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)
Nathanael Jarrasse ; ISIR-UPMC (Institut des Systèmes Intelligents et de Robotique)-CNRS UMR 7222, Université Pierre et Marie Curie-Paris6, Paris Cedex, France ; Michele Tagliabue ; Johanna V. G. Robertson ; Amina Maiza
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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.

Published in:

IEEE Transactions on Neural Systems and Rehabilitation Engineering  (Volume:18 ,  Issue: 4 )