Analysis of relative displacement between the HX wearable robotic exoskeleton and the user's hand.
Analysis of relative displacement between the HX wearable robotic exoskeleton and the user's hand.
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DOI：
10.1186/1743-0003-11-147
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发表时间：
2014-10-18
影响因子：
5.1
通讯作者：
Ferrarin M
中科院分区：
文献类型：
--
作者：
Cempini M;Marzegan A;Rabuffetti M;Cortese M;Vitiello N;Ferrarin M
技术的进步允许生产几种可行的可穿戴机器人设备，以协助日常生活活动和康复。用户满意度的最紧迫限制之一是用户和机器人设备之间的运动缺乏一致性。由于皮肤和组织顺应性的差异、机械反冲和/或不正确的配合，机器人和身体节段之间的位移可能不对应。本报告介绍了用户的手和可穿戴外骨骼HX之间的相对位移的分析结果。HX的设计旨在最大限度地提高舒适性，耐磨性和用户安全性，利用具有模块化架构的多自由度链。这些吸引人的功能可能会引入一些不确定性的运动学性能，特别是当考虑人体测量，形态和程度的流动性的人手。手和外骨骼之间的小的相对位移测量与基于视频的运动捕捉系统，而用户在不同的外骨骼模式下执行几个不同的夹具。该分析提供了有关器件性能的定量结果，区分器件模块和测试条件。一般而言，器械远端部分的整体相对位移在0.5-1.5 mm范围内，而最靠近手背的位移在3 mm范围内（更差，但仍可接受）。对HX的设计原则进行了总结，并为今后的发展提供了指导。本文的在线版本（doi：10.1186/1743-0003-11-147）包含补充材料，可供授权用户使用。
Advances in technology are allowing for the production of several viable wearable robotic devices to assist with activities of daily living and with rehabilitation. One of the most pressing limitations to user satisfaction is the lack of consistency in motion between the user and the robotic device. The displacement between the robot and the body segment may not correspond because of differences in skin and tissue compliance, mechanical backlash, and/or incorrect fit. This report presents the results of an analysis of relative displacement between the user’s hand and a wearable exoskeleton, the HX. HX has been designed to maximize comfort, wearability and user safety, exploiting chains with multiple degrees-of-freedom with a modular architecture. These appealing features may introduce several uncertainties in the kinematic performances, especially when considering the anthropometry, morphology and degree of mobility of the human hand. The small relative displacements between the hand and the exoskeleton were measured with a video-based motion capture system, while the user executed several different grips in different exoskeleton modes. The analysis furnished quantitative results about the device performance, differentiated among device modules and test conditions. In general, the global relative displacement for the distal part of the device was in the range 0.5–1.5 mm, while within 3 mm (worse but still acceptable) for displacements nearest to the hand dorsum. Conclusions over the HX design principles have been drawn, as well as guidelines for future developments. The online version of this article (doi:10.1186/1743-0003-11-147) contains supplementary material, which is available to authorized users.
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