Interaction Control for Human-Exoskeletons
Joint Authors
Hamam, Y.
Djouani, Karim
Ajayi, Michael Oluwatosin
Source
Journal of Control Science and Engineering
Issue
Vol. 2020, Issue 2020 (31 Dec. 2020), pp.1-15, 15 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2020-06-26
Country of Publication
Egypt
No. of Pages
15
Main Subjects
Electronic engineering
Information Technology and Computer Science
Abstract EN
In this work, a general concept of the human-exoskeleton compatibility and interaction control is addressed.
Rehabilitation, as applied to humans with motor control disorder, involves repetitive gait training in relation to lower limb extremity and repetitive task training in relation to upper limb extremity.
It is in this regard that exoskeletal systems must be kinematically compatible with those of the subject in order to guarantee that the subject is being trained properly.
The incompatibility between the wearable robotic device and the wearer results in joint misalignment, thus introducing interaction forces during movement.
This, therefore, leads to the introduction of the need for interaction control in wearable robotic devices.
Human-exoskeleton joint alignment is an uphill task; hence, measures to actualize this in order to guarantee the safety and comfort of humans are necessary.
These measures depend on the types of joints involved in the rehabilitation or assistive process.
Hence, several upper and lower extremity exoskeletons with concepts relating to interaction forces reduction are reviewed.
The significant distinction in the modelling strategy of lower and upper limb exoskeletons is highlighted.
Limitations of certain exoskeletal systems which may not allow the application of interaction control are also discussed.
American Psychological Association (APA)
Ajayi, Michael Oluwatosin& Djouani, Karim& Hamam, Y.. 2020. Interaction Control for Human-Exoskeletons. Journal of Control Science and Engineering،Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1182710
Modern Language Association (MLA)
Ajayi, Michael Oluwatosin…[et al.]. Interaction Control for Human-Exoskeletons. Journal of Control Science and Engineering No. 2020 (2020), pp.1-15.
https://search.emarefa.net/detail/BIM-1182710
American Medical Association (AMA)
Ajayi, Michael Oluwatosin& Djouani, Karim& Hamam, Y.. Interaction Control for Human-Exoskeletons. Journal of Control Science and Engineering. 2020. Vol. 2020, no. 2020, pp.1-15.
https://search.emarefa.net/detail/BIM-1182710
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1182710