title: A methodology to quantify alterations in human upper limb movement during co-manipulation with an exoskeleton.
abstract: 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.
authors.affiliation: ISIR-UPMC, Institut des Systèmes Intelligents et de Robotique, CNRS UMR 7222, Université Pierreet Marie Curie, 75252 Paris Cedex, France. jarrasse@isir.upmc.fr
authors.forename: Nathanael
authors.initials: N
authors.lastname: Jarrassé
authors.forename: Michele
authors.initials: M
authors.lastname: Tagliabue
authors.forename: Johanna V G
authors.initials: JV
authors.lastname: Robertson
authors.forename: Amina
authors.initials: A
authors.lastname: Maiza
authors.forename: Vincent
authors.initials: V
authors.lastname: Crocher
authors.forename: Agnès
authors.initials: A
authors.lastname: Roby-Brami
authors.forename: Guillaume
authors.initials: G
authors.lastname: Morel
mesh_terms: D001696:Biomechanical Phenomena; D004738:Engineering; D018737:Hand Strength / Q000502:physiology; D006801:Humans; D007596:Joints / Q000502:physiology; D009068:Movement / Q000502:physiology*; D009119:Muscle Contraction / Q000502:physiology; D018482:Muscle, Skeletal / Q000502:physiology; D010291:Paresis / Q000534:rehabilitation; D012046:Rehabilitation / Q000295:instrumentation*; D012371:Robotics; D012399:Rotation; D000071939:Stroke Rehabilitation; D034941:Upper Extremity / Q000502:physiology*