TY - JOUR
T1 - User-centered development and performance assessment of a modular full-body exoskeleton (AXO-SUIT)
AU - Bai, Shaoping
AU - Islam, M. R.
AU - Power, Valerie
AU - OŚullivan, Leonard
N1 - Publisher Copyright:
© 2021 The Author(s)
PY - 2022/6
Y1 - 2022/6
N2 - This paper presents the design and preliminary performance assessment of a full-body assistive exoskeleton (AXO-SUIT) for older adults. AXO-SUIT is a system that consists of separate lower-body and upper-body modular exoskeletons, which can be combined to form a full-body system to provide flexible physical assistance as needed. The full-body exoskeleton comprises 27 degrees of freedom (dof), of which 17 are passive and 10 active. It can assist people in walking, standing, carrying and handling tasks. A user-centered design approach was adopted throughout the development of the exoskeleton. This paper describes the design process of AXO-SUIT, involving a review of user needs, a kinematic and kinetic motion study, and innovative system design. Tests with the developed systems were conducted on selected end-user subjects, covering both performance evaluations at different levels and useability testing. End-user testing results show the effectiveness of the exoskeleton in providing flexible physical assistance.
AB - This paper presents the design and preliminary performance assessment of a full-body assistive exoskeleton (AXO-SUIT) for older adults. AXO-SUIT is a system that consists of separate lower-body and upper-body modular exoskeletons, which can be combined to form a full-body system to provide flexible physical assistance as needed. The full-body exoskeleton comprises 27 degrees of freedom (dof), of which 17 are passive and 10 active. It can assist people in walking, standing, carrying and handling tasks. A user-centered design approach was adopted throughout the development of the exoskeleton. This paper describes the design process of AXO-SUIT, involving a review of user needs, a kinematic and kinetic motion study, and innovative system design. Tests with the developed systems were conducted on selected end-user subjects, covering both performance evaluations at different levels and useability testing. End-user testing results show the effectiveness of the exoskeleton in providing flexible physical assistance.
KW - Exoskeletons
KW - Performance assessment
KW - Physical assistance for the elderly
KW - User-centered design
UR - http://www.scopus.com/inward/record.url?scp=85138740503&partnerID=8YFLogxK
U2 - 10.1016/j.birob.2021.100032
DO - 10.1016/j.birob.2021.100032
M3 - Article
AN - SCOPUS:85138740503
SN - 2097-0242
VL - 2
JO - Biomimetic Intelligence and Robotics
JF - Biomimetic Intelligence and Robotics
IS - 2
M1 - 100032
ER -