Wearable Robotic Technologies - Chapter 3 - Exoskeletons
The presenter explains how exoskeletons should fit and move with the human body, covering kinematics, alignment, task needs, and design considerations.
In this talk
- 35:11
Representing human movement
The presenter describes dividing the body into upper and lower arm and leg segments, with joints representing degrees of freedom. Video can help estimate equivalent motion between the person and the device.
- 36:12
Fit and user interaction
An exoskeleton should account for the user's body size and shape while tracking their movement. Its support needs to work with the person’s motion, and the interaction between person and device is central to its use.
- 37:09
Comfort, support, and task needs
The device can change how a person moves and feels, so its design should coordinate with the user and provide support for specific activities. Soft, compliant materials are one option, with comfort and freedom of movement as design considerations.
- 1:05:20
Design around people and daily activities
The presenter says exoskeleton design needs to account for balance, volunteers, and anthropometric fit. Design goals should reflect the person’s needs and activities of daily living, such as reaching and washing; biomechanics and movement matter. SolidWorks, OpenSim, and simulation are mentioned as design tools.
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