Title :
Assessing neuromuscular mechanisms in human-exoskeleton interaction
Author :
Sylla, N. ; Bonnet, V. ; Venture, G. ; Armande, N. ; Fraisse, P.
Author_Institution :
PSA Peugeot Citroen R&D Dept., Centre Tech. de Vlizy, Velizy-Villacoublay, France
Abstract :
In this study, we propose to evaluate a 7 DOF exoskeleton in terms of motion control. Using criteria from the human motor control literature, inverse optimization was performed to assess an industrial screwing movement. The results of our study show that the hybrid composition of the free arm movement was accurately determined. At contrary, when wearing the exoskeleton, which produces an arbitrary determined torque compensation, the motion is different from the naturally adopted one. This study is part of the evaluation and comprehension of the complex neuromuscular mechanism resulting in wearing an exoskeleton several hours per day for industrial tasks assistance.
Keywords :
biomechanics; industrial control; motion control; muscle; neurophysiology; optimisation; orthotics; torque; 7 DOF exoskeleton evaluation; arbitrary torque compensation determination; complex neuromuscular mechanism comprehension; complex neuromuscular mechanism evaluation; exoskeleton wearing; human motor control literature criteria; human-exoskeleton interaction; hybrid free arm movement composition determination; industrial screwing movement assessment; industrial tasks assistance; inverse optimization; motion control; neuromuscular mechanism assessment; Cost function; Exoskeletons; Joints; Neuromuscular; Torque; Trajectory;
Conference_Titel :
Engineering in Medicine and Biology Society (EMBC), 2014 36th Annual International Conference of the IEEE
Conference_Location :
Chicago, IL
DOI :
10.1109/EMBC.2014.6943814