Human-Exoskeleton Interaction During Knee Flexion-Extension Under Different Configurations of Robot Assistance-Resistance

The purpose of this work was to evaluate the human-exoskeleton interaction during performance of knee flexion-extension under different configurations of robot assistance-resistance. The interaction was assessed taking in account the myoelectric activity, muscle recruitment, robot torque and movement performed. To this, an experimental procedure was conducted with an individual wearing and exoskeleton and performing knee flexion-extension movements in a seated position with the robot configured in three modes: assistance on flexion (FA), assistance on extension (EA), assistance on flexion and extension (CA). The results obtained allowed us to conclude that robot configurations of flexion-assistance and extension-assistance can be used for training focused on strengthening while the configuration for complete-assistance (that is, assist both in the flexion and extension) is useful for training focused on developing motor control.