The DOI matches its Crossref record; 15 of the 15 references it cites were found in a registry or an index.
Connecting a Human Limb to an Exoskeleton
Abstract
When developing robotic exoskeletons, the design of physical connections between the device and the human limb to which it is connected is a crucial problem. Indeed, using an embedment at each connection point leads to uncontrollable forces at the interaction port, induced by hyperstaticity. In practice, these forces may be large because in general the human limb kinematics and the exoskeleton kinematics differ. To cope with hyperstaticity, the literature suggests the addition of passive mechanisms inside the mechanism loops. However, empirical solutions that are proposed so far lack proper analysis and generality. In this paper, we study the general problem of connecting two similar kinematic chains through multiple passive mechanisms. We derive a constructive method that allows the determination of all the possible distributions of freed degrees of freedom across different fixation mechanisms. It also provides formal proofs of global isostaticity. Practical usefulness is illustrated through two examples with conclusive experimental results: a preliminary study made on a manikin with an arm exoskeleton controlling the movement (passive mode) and a larger campaign on ten healthy subjects performing pointing tasks with a transparent robot (active mode).
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Citations
Cites
Biomechanical design of the Berkeley lower extremity exoskeleton (BLEEX)
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Upper-Limb Powered Exoskeleton Design
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Wearable Robots: Biomechatronic Exoskeletons
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Kinematic Design to Improve Ergonomics in Human Machine Interaction
Schiele, A., & van der Helm, F. C. T. (2006) · IEEE Transactions on Neural Systems and Rehabilitation Engineering · doi:10.1109/tnsre.2006.881565 · Cited by 386
Geometry parameters for musculoskeletal modelling of the shoulder system
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ARMin II - 7 DoF rehabilitation robot: mechanics and kinematics
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Kinematic measurements in the study of human walking.
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Arm rehabilitation with a robotic exoskeleleton in Virtual Reality
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ABLE, an innovative transparent exoskeleton for the upper-limb
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Determination of the optimal elbow axis for evaluation of placement of prostheses
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Lie Algebra and the Mobility of Kinematic Chains
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Self-citationAn explicit model to predict and interpret constraint force creation in pHRI with exoskeletons
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Cited by
Bio-inspired upper limb soft exoskeleton to reduce stroke-induced complications
Li, N., Yang, T., Yu, P., Chang, J., Zhao, L., Zhao, X., Elhajj, I. H., Xi, N., & Liu, L. (2018) · Bioinspiration & Biomimetics · doi:10.1088/1748-3190/aad8d4 · Cited by 92
Metadata
- Authors
- Jarrasse, N., & Morel, G.
- Venue
- IEEE Transactions on Robotics
- Published
- 2012-06
- Volume
- 28
- Issue
- 3
- Pages
- 697-709
- ISSN
- 1552-3098 (ISSN-L)
- 1941-0468
- OpenAlex
- W2084524231
- Cited by
- 263
- References
- 15
- FWCI
- 4.38
- Type
- journal article
- Language
- en
- Open access
- closed
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Contains information from the Semantic Scholar Academic Graph Datasets, made available under the ODC Attribution License (ODC-BY 1.0).
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