Human-Exoskeleton Joint Coordination Assessment: A Case Study on the Shoulder and Elbow Joints
Human-Exoskeleton Joint Coordination Assessment: A Case Study on the Shoulder and Elbow Joints
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DOI：
10.1007/s42235-022-00226-9
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发表时间：
2022-07-14
影响因子：
4
通讯作者：
Yihun, Yimesker
中科院分区：
文献类型：
--
作者：
Delgado, Pablo;Rincon, Clarissa;Yihun, Yimesker
本研究旨在开发一种方法来评估和量化人体肢体运动和与外骨骼的相互作用。三种不同的基本和常见的上臂关节运动和它们与基于关节的外骨骼的相互作用被认为是：肩部垂直和水平外展-内收，和肘部屈曲-伸展。外骨骼和人体模型与肌肉骨骼建模软件内的相应关节对齐。在运动范围内，分析了线位移和角位移误差，并研究了这些误差对相关肌腱长度的影响。结果表明，肌肉肌腱长度的显着变化高达65.7毫米，并在不同的肌肉群的肩膀上的图案的变化。类似地，观察到约4 mm的肌肉-肌腱长度变化，特别是在手肘肘肌-肌腱处。这些长度的变化可能在关节处引起不必要的应力，特别是对于由于中风而残疾的人，他们可能没有灵活性来适应由外骨骼施加的那些额外的姿势变化。
This study is aimed at developing a methodology to assess and quantify the human limb motions and interactions with the exoskeleton in relation to alignment. Three different basic and common upper arm joint movements and their interaction with a joint-based exoskeleton are considered: shoulder vertical and horizontal abduction-adduction, and elbow flexion-extension. The exoskeleton and the human model are aligned to the respective joints inside a Musculoskeletal Modeling software. Within the range of motion, the linear and angular displacement errors were analyzed, and the effect of those errors on the length of the associated tendons was studied. Results have shown a noticeable variation of the muscle-tendon lengths up to 65.7 mm and a change in the pattern on different muscle groups of the shoulder. Similarly, about 4 mm muscle-tendon length changes observed particularly at the elbow anconeus muscle-tendon. These changes of length could cause unwanted stresses at the joints, specially for people with disabilities due to stroke that might not have the flexibility to accommodate those extra pose variations imposed by the exoskeleton.