Kinematic Design to Improve Ergonomics in Human Machine Interaction

• Published in: IEEE transactions on neural systems and rehabilitation engineering Vol. 14; no. 4; pp. 456 - 469
• Main Authors: Schiele, Andr, van der Helm, Frans C. T.
• Format: Journal Article
• Language: English
• Published: United States IEEE 01.12.2006; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Arm modeling; Biomechanical Phenomena - methods; Computer Simulation; Computer-Aided Design; Elbow; Equipment Design - methods; Equipment Failure Analysis; ergonomic design; Ergonomics; Ergonomics - methods; Exoskeletons; Humans; Kinematics; Man-Machine Systems; Models, Biological; Movement - physiology; Prototypes; rehabilitation exoskeleton; Rehabilitation robotics; Robotics - instrumentation; Robotics - methods; Shoulder; Software; Testing; Therapy, Computer-Assisted - instrumentation; Therapy, Computer-Assisted - methods; workspace; Wrist

This paper introduces a novel kinematic design paradigm for ergonomic human machine interaction. Goals for optimal design are formulated generically and applied to the mechanical design of an upper-arm exoskeleton. A nine degree-of-freedom (DOF) model of the human arm kinematics is presented and use...