Citation

Lim S, Jung H, Suh J. J. Inst. Control Robot. Syst. 2023; 29(9): 726-733.

Vernacular Title

외골격로봇의 안전성 평가를 위한 인간-로봇 상호작용 정역학 모델링 및 실험적 검증

Copyright

(Copyright © 2023, Institute of Control, Robotics and Systems)

DOI

10.5302/J.ICROS.2023.23.0088

PMID

unavailable

Abstract

The elasticity of human skin and the complexity of human joints can lead to misalignment between an exoskeleton robot and the human body. This misalignment increases physical human-robot interaction forces, resulting in discomfort and pain for the wearer. Consequently, considering these interaction forces is crucial for ensuring the safety of wearing an exoskeleton. In this study, we propose a novel method to statically predict physical human-robot interaction forces and evaluate the safety of using exoskeleton robots. To validate the interaction model, experiments are conducted using a sensor-equipped upper limb dummy and an exoskeleton robot. The results confirm the effectiveness of the proposed method, allowing for the quantitative assessment of the safety of using exoskeleton robots without the need for manufacturing actual prototypes.

Language: en