Exploring Human–Exoskeleton Interaction Dynamics: An In-Depth Analysis of Knee Flexion–Extension Performance across Varied Robot Assistance–Resistance Configurations

• DOI: 10.3390/s24082645
• Publication Date: 2024-04-22T10:10:18Z
• Authors: Denis Mosconi; Yecid Moreno; Adriano Siqueira
• Keywords: Human–robot interaction; Knee flexion; Dynamics

Knee rehabilitation therapy after trauma or neuromotor diseases is fundamental to restore the joint functions as best possible, exoskeleton robots being an important resource in this context, since they optimize by applying tailored forces assist resist movements, contributing improved patient outcomes and treatment efficiency. One of points that must be taken into account when using their interaction with patient, which safe for both guarantee effectiveness treatment. Therefore, objective study was assess between humans during execution knee flexion–extension movements under various configurations robot assistance resistance. The evaluation encompassed considerations myoelectric activity, muscle recruitment, torque, performed movement. To achieve this, experimental protocol implemented, involving individual wearing executing motions while seated, configured five distinct modes: passive (P), on flexion (FA), extension (EA), (CA), resistance (CR). Results revealed distinctive patterns movement recruitment each mode, highlighting complex interplay human robot; example, largest RMS tracking errors were EA mode (13.72 degrees) smallest CR (4.47 degrees), a non-obvious result; addition, activity demonstrated greater completely assisted than without (the maximum activation levels vastus medialis lateralis muscles more double those user had from robot). Tracking errors, activations, torque values varied across modes, emphasizing need careful consideration configuring ensure effective rehabilitation. Understanding these human–robot interactions essential developing precise programs, optimizing effectiveness, enhancing safety.