Development of Human-Robot Interfacing Method for Assistive Wearable Robot of a Human Upper Extremity

Abstract

We suggest a wearable robot using Human-Robot interfacing technology. This system combines the natural and sophisticated human intelligence with the powerful motion capability of robot. We defined a task for the human-robot interfacing prototype to operate with the human body simultaneously, paying attention to comfort and ease of wear. This system had to be both light and compact and, most importantly, easy to wear and remove. For this study, we developed a basic experimental exoskeleton system to evaluate a Human Robot HRI(Human-Robot Interface), selecting interfaces for arm braces on both wrists, and a weight harness on the torso to connect the robot and human. We developed the HRI to provide a command for the robot motion. It connects the human and the robot with the multi-axis load-cell, and it measures the relative force between the human and the robot. The control system calculates the trajectory of End-Effecter using this force signal. In this paper, we verify the performance of proposed system through the motion of elbow E/F (Extension/Flexion), the shoulder E/F, and the shoulder Ab/Ad (Abduction/Adduction). We generated the command signal using the human-robot interfacing method so that a user would be able to operate the wearable robot of 6 D.O.F. And, we performed subsequent capability and force assistance experiments for performance verification of the proposed human-robot interfacing method. The result concluded that the necessary force for the load handling is analogous to weight of the load. By subsequent capability and force assistance experiments, we verified performance of the suggested human-robot interfacing method.