The appropriate ergonomic design of a wearable robotic device is critical for the effectiveness of the device itself. In this paper we identified two key requirements for a structural ergonomics: the correct kinematic compatibility with the human limb and a comfortable and adaptable physical human-robot interface. We then show how the aforementioned requirements have been faced and implemented in the mechanical design of two wearable devices for elbow and hand rehabilitation, both developed at The BioRobotics Institute of Scuola Superiore Sant' Anna.
Chiri, A., Cempini, M., De Rossi, S., Lenzi, T., Giovacchini, F., Vitiello, N., et al. (2012). On the design of ergonomic wearable robotic devices for motion assistance and rehabilitation. In Proceedings of the Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS (pp.6124-6127). IEEE [10.1109/EMBC.2012.6347391].
On the design of ergonomic wearable robotic devices for motion assistance and rehabilitation
Carrozza M. C.
2012
Abstract
The appropriate ergonomic design of a wearable robotic device is critical for the effectiveness of the device itself. In this paper we identified two key requirements for a structural ergonomics: the correct kinematic compatibility with the human limb and a comfortable and adaptable physical human-robot interface. We then show how the aforementioned requirements have been faced and implemented in the mechanical design of two wearable devices for elbow and hand rehabilitation, both developed at The BioRobotics Institute of Scuola Superiore Sant' Anna.
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