Diego Torricelli, Camilo Cortés, Nerea Lete, Álvaro Bertelsen, Jose E. Gonzalez-Vargas, Antonio J. del-Ama, Iris Dimbwadyo, Juan C. Moreno, Julian Florez, Jose L. Pons
Abstract
The relative motion between human and exoskeleton is a crucial factor that has remarkable consequences on the efficiency, reliability and safety of human-robot interaction. Unfortunately, its quantitative assessment has been largely overlooked in the literature. Here, we present a methodology that allows predicting the motion of the human joints from the knowledge of the angular motion of the exoskeleton frame. Our method combines a subject-specific skeletal model with a kinematic model of a lower limb exoskeleton (H2, Technaid), imposing specific kinematic constraints between them. To calibrate the model and validate its ability to predict the relative motion in a subject-specific way, we performed experiments on seven healthy subjects during treadmill walking tasks. We demonstrate a prediction accuracy lower than 3.5° globally, and around 1.5° at the hip level, which represent an improvement up to 66% compared to the traditional approach assuming no relative motion between the user and the exoskeleton.
This research output has an Altmetric Attention Score of 10. This is our high-level measure of the quality and quantity of online attention that it has received. This Attention Score, as well as the ranking and number of research outputs shown below, was calculated when the research output was last mentioned on 17 September 2021.
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#2,978,754
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Outputs from Frontiers in Neurorobotics
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Outputs of similar age from Frontiers in Neurorobotics
#1
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Altmetric has tracked 23,043,346 research outputs across all sources so far. Compared to these this one has done well and is in the 86th percentile: it's in the top 25% of all research outputs ever tracked by Altmetric.
So far Altmetric has tracked 881 research outputs from this source. They receive a mean Attention Score of 4.1. This one has done particularly well, scoring higher than 93% of its peers.
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We're also able to compare this research output to 22 others from the same source and published within six weeks on either side of this one. This one has done particularly well, scoring higher than 95% of its contemporaries.
