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Interaction forces exchanged between exoskeletons and humans should be carefully monitored to avoid damage to the human musculoskeletal system. This paper presents the instrumentation of a knee exoskeleton able to measure physical human-exoskeleton interaction (pHEI) forces in three axes by strategically placing force sensors at the cuffs of the device. We used an instrumented replica of a human leg to validate the force sensor readings. Results showcased the ability of the device to accurately measure forces transmitted between the exoskeleton and the human during use of the device at various motion trajectories.

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Instrumentation and Validation of a Knee Exoskeleton for the Measurement of Human - Exoskeleton Interaction Forces

  • 会议论文

  • 发表日期：

    2025年

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  • Marco Iglesias Santos,
  • Stefano Massardi,
  • Massimo Cenciarini,
  • David Rodriguez-Cianca,
  • Diego Torricelli

摘要

Interaction forces exchanged between exoskeletons and humans should be carefully monitored to avoid damage to the human musculoskeletal system. This paper presents the instrumentation of a knee exoskeleton able to measure physical human-exoskeleton interaction (pHEI) forces in three axes by strategically placing force sensors at the cuffs of the device. We used an instrumented replica of a human leg to validate the force sensor readings. Results showcased the ability of the device to accurately measure forces transmitted between the exoskeleton and the human during use of the device at various motion trajectories.