Motor Characteristics of Human Adaptations to External Assistive Forces

Wen Liang Yeoh, Jeewon Choi, P. Loh, Osamu Fukuda, S. Muraki
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Abstract

Technology advancement has enabled the development of robotic exoskeletons that are portable, powerful, and sufficiently smart to be of practical use in the real world. These devices provide partial assistive forces that increase their user’s physical strength to better meet the demands of everyday life and have potential applications in various settings. Examples include helping older adults maintain their independence and preventing musculoskeletal injuries among factory workers. Although great strides have been made to improve the performance and usability of these devices, human characteristics and the way humans adapt to the external assistive forces from these devices are rarely explicitly considered in their development. A common assumption is that if the provided assistive forces are aligned with the intent of users, users can easily “switch off” their muscles and effectively utilize this assistive force. In this review, we demonstrate that human adaptations to external assistive forces can lead to inefficiencies or conflicts that decrease the effectiveness of robotic exoskeletons. We then discuss the motor characteristics of human adaptations to external assistive forces.
人类适应外力辅助的运动特性
技术的进步使得机器人外骨骼的发展便携、强大、足够智能,可以在现实世界中实际使用。这些设备提供部分辅助力量,增加用户的体力,以更好地满足日常生活的需求,并在各种环境中具有潜在的应用。例子包括帮助老年人保持独立,防止工厂工人的肌肉骨骼损伤。尽管在提高这些设备的性能和可用性方面已经取得了很大的进步,但人类的特征以及人类适应这些设备的外部辅助力量的方式在其开发中很少被明确考虑。一个常见的假设是,如果提供的辅助力量与用户的意图一致,用户可以很容易地“关闭”他们的肌肉并有效地利用这种辅助力量。在这篇综述中,我们证明了人类对外部辅助力的适应可能导致效率低下或冲突,从而降低机器人外骨骼的有效性。然后我们讨论了人类适应外部辅助力量的运动特征。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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