User-centered development and performance assessment of a modular full-body exoskeleton (AXO-SUIT)  

作　　者：Shaoping Bai M.R.Islam Valerie Power Leonard OŚullivan 

机构地区：[1]Department of Materials and Production,Aalborg University,Aalborg 9220,Denmark [2]School of Design,Health Research Institute and CONFIRM Smart Manufacturing Centre,University of Limerick,Ireland

出　　处：《Biomimetic Intelligence & Robotics》2022年第2期9-16,共8页仿生智能与机器人（英文）

基　　金：supported by the EU AAL Programme,Innovation Fund Denmark,Vinnova(Sweden),Agentschap Innoveren&Ondernemen and Enterprise Ireland.

摘　　要：This paper presents the design and preliminary performance assessment of a full-body assistive exoskeleton(AXO-SUIT)for older adults.AXO-SUIT is a system that consists of separate lower-body and upper-body modular exoskeletons,which can be combined to form a full-body system to provide flexible physical assistance as needed.The full-body exoskeleton comprises 27 degrees of freedom(dof),of which 17 are passive and 10 active.It can assist people in walking,standing,carrying and handling tasks.A user-centered design approach was adopted throughout the development of the exoskeleton.This paper describes the design process of AXOSUIT,involving a review of user needs,a kinematic and kinetic motion study,and innovative system design.Tests with the developed systems were conducted on selected end-user subjects,covering both performance evaluations at different levels and useability testing.End-user testing results show the effectiveness of the exoskeleton in providing flexible physical assistance.

关 键 词：Exoskeletons Physical assistance for the elderly User-centered design Performance assessment 

分 类 号：TN9[电子电信—信息与通信工程]