Evaluating the influence of UEXO-II on human performance: A torque and muscle level analysis

Abstract

Despite the increasing prevalence of exoskeleton technology, the lack of standardized evaluation methods poses significant challenges. This study aims to comprehensively generate direct dynamic evaluation indicators regarding the impact of the UEXO-II exoskeleton technology on human performance, with a focus on both torque and muscle levels. By inverse dynamics analysis based on identified parameters and optimization-based muscle force estimation techniques, we directly elucidate the effects of exoskeleton on human joint torque generation and muscle force exertion. Furthermore, this study investigates the influence of variations in motion frequency and exoskeleton controller parameters on human performance outcomes through statistical analysis at both torque and muscle levels. This contributes to the discussion on the optimal control of exoskeletons for movements at different frequencies. Results of this study indicate that both joint torque and muscle force varies, with some phases of the motion sequence being laborious and others being effortless, following exoskeleton utilization. Notably, the motion frequency and parameters of the exoskeleton controller emerge as influential factors, significantly impacting human energy consumption and muscular strength both under without and with exoskeleton conditions. This study holds promise as an effective method for evaluating performance of UEXO-II.