Influence of attachment pressure and kinematic configuration on pHRI with wearable robots

References

• Alami , R , Albu-Schaeffer , A , Bicchi , A , Bischoff , R , Chatila , R , De Luca , A , Santis , A D , Giralt , G , Guiochet , J Hirzinger , G . . Safe and dependable physical human–robot interaction in anthropic domains: state of art and challenges . Presented at the International Conference on Intelligent Robots and Systems IROS . Beijing.
   Google Scholar
• Bergamasco , M , Allotta , B , Bosio , L , Ferretti , L , Parrini , G , Prisco , M , Salsedo , F and Sartini , G . . An arm exoskeleton system for teleoperation and virtual environments applications . Proceedings of the IEEE. Proceedings of International Conference on Robotics and Automation . May 12–14 1994 , Nice, France. Vol. 2 , pp. 1449 – 1454 .
   Google Scholar
• Carignan , C , Tang , J , Roderick , S and Naylor , M . . A configuration-space approach to controlling a rehabilitation arm exoskeleton . Proceedings of 10th IEEE International Conference on Rehabilitation Robotics . pp. 179 – 187 .
   Google Scholar
• Colombo , G , Joerg , M and Diez , V . . Driven gait orthosis to do locomotor training of paraplegic patients . Proceedings of 22nd Annual EMBS Conference . Chicago, IL. pp. 23 – 28 .
   Google Scholar
• Colombo , G , Joerg , M , Schreier , R and Dietz , V . 2000 . Treadmill training of paraplegic patients using a robotic orthosis . J Reliab Res Dev. , 37 ( 6 ) : 693 – 700 .
   PubMed Web of Science ®Google Scholar
• Frisoli , A , Rocchi , F , Marcheschi , S , Dettori , A , Salsedo , F and Bergamasco , M . . A new force-feedback arm exoskeleton for haptic interaction in virtual environments . Proceedings of 1st Joint EuroHaptics Conference and IEEE Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems . Pisa, Italy. pp. 195 – 201 .
   Google Scholar
• Hart , S G and Staveland , L E . 1988 . “ Development of the NASA-TLX (Task Load Index) ” . In Human mental workload , Edited by: Hankock , P A and Meshkati , M . 239 – 250 . North Holland : Elsevier Science Publishers BV .
   Google Scholar
• Hidler , J M and Wall , A E . 2005 . Alterations in muscle activation patterns during robotic-assisted walking . Clin Biomech. , 20 : 184 – 193 .
   PubMed Web of Science ®Google Scholar
• Hogan , N . 1985 . Impedance control: an approach to manipulation, Part I, II, II . J Dyn Syst Meas Control. , 107 : 1 – 23 .
   Web of Science ®Google Scholar
• Kazerooni , H and Steger , R . 2006 . The Berkely lower extremity exoskeleton . J Dyn Syst Meas Control. , 128 ( 1 ) : 14 – 25 .
   Web of Science ®Google Scholar
• Neckel , N D , Nichols , D and Hidler , J M . . Joint moments exhibited by chronik stroke subjects while walking with a prescribed physiological gait pattern . Proceedings of 10th IEEE International Conference on Rehabilitation Robotics . Noordwijk. pp. 771 – 775 .
   Google Scholar
• Nef , T , Mihelj , M and Riener , R . 2007 . ARMin: a robot for patient-cooperative arm therapy . J Med Biol Eng Comput. , 45 ( 9 ) : 887 – 900 .
   PubMed Web of Science ®Google Scholar
• Pratt , G and Williamson , M . . Series elastic actuators . Procedings of IEEE/RSJ International Conference on Intelligent Robots and Systems . Pittsburg, USA. pp. 388 – 406 .
   Google Scholar
• Raibert , M H and Craig , J J . 1981 . Hybrid position/force control of manipulators . ASME J Dyn Syst Meas Control. , 102 : 275 – 282 .
   Google Scholar
• Riener , R , Nef , T and Colombo , G . 2005 . Robot-aided neurorehabilitation of the upper extremities . J Med Biol Eng Comput. , 43 : 2 – 10 .
   PubMed Web of Science ®Google Scholar
• Schiele , A . . An explicit model to predict and interpret constraint force creation in p-HRI with exoskeletons . Proceedings of IEEE International Conference on Robotics and Automation (ICRA) . pp. 1324 – 1330 .
   Google Scholar
• Schiele , A . 2008b . “ Case study: quantification of constraint displacements and interaction forces in non-ergonomic pHR interfaces ” . In Wearable robots: biomechatronic exoskeletons , Edited by: Pons , J L . 149 – 154 . New York, NY, , USA : John Wiley .
   Google Scholar
• Schiele , A . 2008c . “ Case study: the ergonomic EXARM exoskeleton ” . In Wearable robots: biomechatronic exoskeletons , Edited by: Pons , J L . 248 – 255 . New York, NY, , USA : John Wiley .
   Google Scholar
• Schiele , A . 2008d . Fundamentals of ergonomic exoskeleton robots [Ph.D. thesis] , Delft, , Netherlands : Delft University of Technology . Available at: www.library.tudelft.nl
   Google Scholar
• Schiele , A , De Bartolomei , M and van der Helm , F . . Towards intuitive control of space robots: a ground development facility with exoskeleton . Proceedings of International Conference on Intelligent Robots and Systems . pp. 1396 – 1401 . Beijing, , China : IEEE/RSJ .
   Google Scholar
• Schiele , A and van der Helm , F CT . 2006 . Kinematic design to improve ergonomics in human machine interaction . IEEE Trans Neural Syst Rehabil Eng. , 14 ( 4 ) : 456 – 469 .
   PubMed Web of Science ®Google Scholar
• Tsagarakis , N G and Caldwell , D G . 2003 . Development and control of a ‘soft-actuated’ exoskeleton for use in physiotherapy and training . Autonom Robots , 15 : 21 – 33 .
   Web of Science ®Google Scholar
• Zinn , M , Roth , B , Khatib , O and Salisbury , J K . 2004 . New actuation approach for human-friendly robot design . Int J Robot Res , 23 ( 4–5 ) : 379 – 398 .
   Web of Science ®Google Scholar
• Zoss , A and Kazerooni , H . 2006 . Design of electrically actuated lower extremity exoskeleton . Adv Robot. , 20 ( 9 ) : 967 – 988 .
   Web of Science ®Google Scholar