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Test methods for exoskeletons—lessons learned from industrial and response robotics

Test methods for exoskeletons—lessons learned from industrial and response robotics

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Wearable Exoskeleton Systems: Design, control and applications — Recommend this title to your library

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Exoskeletons are devices that can assist the human wearer's limbs to provide functional, normal, or amplified human capabilities. Research on exoskeletons has dramatically increased recently. However, measurements of these devices have yet to show long-term safety and other effects on humans. Safety standards now allow, through risk assessment, both manufacturing and wearable robots to be used, although performance standards for both systems are still lacking. Much can be learned from industrial and response robot safety and performance research and standards activities that can cross over into the exoskeleton arena. For example, ongoing research to develop standard test methods to assess performance of manufacturing robots and emergency response robots can inspire similar test methods for exoskeletons. This chapter first lists exoskeleton performance metrics and standards for collaborative industrial robots, response robots, and also physical assistance robots (i.e., exoskeletons). Then, it describes measurements ofjoint axis rotation location using an industrial robot simulating a human arm, as well as mobile manipulator and response robot test method developments that could also apply to exoskeletons. These methods and others are then integrated into recommendations for exoskeleton test methods.

Chapter Contents:

  • Abstract
  • 13.1 Introduction
  • 13.2 Exoskeleton performance metrics
  • 13.3 Standards
  • 13.3.1 Safety standards
  • 13.3.2 Crossindustry performance standards
  • 13.3.2.1 Industrial robots
  • 13.3.2.2 Response robots
  • 13.4 Crossindustry measurements applicable to exoskeletons
  • 13.4.1 Joint rotation axis location
  • 13.4.1.1 Background
  • 13.4.1.2 Literature survey of human body measurement
  • 13.4.1.3 Robot joint measurement
  • 13.4.1.4 Results
  • 13.4.2 Industrial mobile manipulator
  • 13.4.3 Response robots
  • 13.5 Recommended test methods for exoskeletons
  • 13.5.1 Load handling
  • 13.5.1.1 Load carry, position, and orient
  • 13.5.1.2 Peg-in-hole
  • 13.5.1.3 Tool force
  • 13.5.1.4 Navigation
  • 13.5.1.5 Test dummy
  • 13.6 Summary and conclusions
  • Acknowledgment
  • References

Inspec keywords: mobile robots; safety; service robots; wearable robots; human-robot interaction; industrial robots; manipulators

Other keywords: industrial robot; exoskeleton performance metrics; mobile manipulator; human capabilities; collaborative industrial robots; emergency response robots; standard test methods; manufacturing; exoskeleton arena; risk assessment; response robot test method; industrial robotics; wearable robots; long-term safety; exoskeletons-lessons; performance standards; human arm; human wearer; physical assistance robots; response robotics; safety standards; industrial response robot safety; exoskeleton test methods

Subjects: Control applications in manufacturing processes; Mobile robots; Control in industrial production systems; Health and safety aspects; Manipulators; Robotics

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