Modeling human-exoskeleton interaction: Preliminary results

M. C. Sánchez-Villamañán; D. Torricelli; Jose L Pons

doi:10.1007/978-3-030-01887-0_27

Modeling human-exoskeleton interaction: Preliminary results

M. C. Sánchez-Villamañán^*, D. Torricelli, Jose L Pons

^*Corresponding author for this work

Physical Medicine and Rehabilitation

Research output: Chapter in Book/Report/Conference proceeding › Chapter

1 Scopus citations

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	https://doi.org/10.1007/978-3-030-01887-0_27
State	Published - Jan 1 2019

Publication series

Name	Biosystems and Biorobotics
Volume	22
ISSN (Print)	2195-3562
ISSN (Electronic)	2195-3570

ASJC Scopus subject areas

Biomedical Engineering
Mechanical Engineering
Artificial Intelligence

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