Abstract
Physical interfaces have an important role in achieving efficient, safe and comfortable transmission of forces between the exoskeleton and the human body. They are normally composed of different compliant elements disposed in series between the skin of the user and the exoskeleton frame. Modelling how the compliant properties of physical interface will affect the transmission of forces may be useful to improve the design process towards more effective, safe and user-specific exoskeletal devices. As a first step in this direction, we propose a simplified 2-dimensional model representing the interaction of a single-actuated-joint exoskeleton with the human limb through a compliant element. We studied the effects of stiffness value associated to the tissues in the behavior of the whole system with simulated results of the model.
| Original language | English (US) |
|---|---|
| Title of host publication | Biosystems and Biorobotics |
| Publisher | Springer International Publishing |
| Pages | 137-141 |
| Number of pages | 5 |
| DOIs | |
| State | Published - Jan 1 2019 |
| Externally published | Yes |
Publication series
| Name | Biosystems and Biorobotics |
|---|---|
| Volume | 22 |
| ISSN (Print) | 2195-3562 |
| ISSN (Electronic) | 2195-3570 |
Fingerprint
ASJC Scopus subject areas
- Biomedical Engineering
- Mechanical Engineering
- Artificial Intelligence
Cite this
}
Modeling human-exoskeleton interaction : Preliminary results. / Sánchez-Villamañán, M. C.; Torricelli, D.; Pons, Jose L.
Biosystems and Biorobotics. Springer International Publishing, 2019. p. 137-141 (Biosystems and Biorobotics; Vol. 22).Research output: Chapter in Book/Report/Conference proceeding › Chapter
TY - CHAP
T1 - Modeling human-exoskeleton interaction
T2 - Preliminary results
AU - Sánchez-Villamañán, M. C.
AU - Torricelli, D.
AU - Pons, Jose L
PY - 2019/1/1
Y1 - 2019/1/1
N2 - Physical interfaces have an important role in achieving efficient, safe and comfortable transmission of forces between the exoskeleton and the human body. They are normally composed of different compliant elements disposed in series between the skin of the user and the exoskeleton frame. Modelling how the compliant properties of physical interface will affect the transmission of forces may be useful to improve the design process towards more effective, safe and user-specific exoskeletal devices. As a first step in this direction, we propose a simplified 2-dimensional model representing the interaction of a single-actuated-joint exoskeleton with the human limb through a compliant element. We studied the effects of stiffness value associated to the tissues in the behavior of the whole system with simulated results of the model.
AB - Physical interfaces have an important role in achieving efficient, safe and comfortable transmission of forces between the exoskeleton and the human body. They are normally composed of different compliant elements disposed in series between the skin of the user and the exoskeleton frame. Modelling how the compliant properties of physical interface will affect the transmission of forces may be useful to improve the design process towards more effective, safe and user-specific exoskeletal devices. As a first step in this direction, we propose a simplified 2-dimensional model representing the interaction of a single-actuated-joint exoskeleton with the human limb through a compliant element. We studied the effects of stiffness value associated to the tissues in the behavior of the whole system with simulated results of the model.
UR - http://www.scopus.com/inward/record.url?scp=85055029074&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85055029074&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-01887-0_27
DO - 10.1007/978-3-030-01887-0_27
M3 - Chapter
T3 - Biosystems and Biorobotics
SP - 137
EP - 141
BT - Biosystems and Biorobotics
PB - Springer International Publishing
ER -