02646nas a2200313   4500008004100000022001400041245012900055210006900184260001000253300001400263490000600277520158700283653002901870653001501899653001701914653002801931653003701959653002201996653001102018653002102029653001102050653002302061653002202084100002102106700002202127700001802149700002602167856013902193       2024                        eng d  a2377-376600aExperimental and Simulation-Based Estimation of Interface Power During Physical Human-Robot Interaction in Hand Exoskeletons0 aExperimental and SimulationBased Estimation of Interface Power D  cMarch  a2575-25810 v93 a<p>Even the best wearable robots face challenges with power losses in the system, especially at the physical attachment interface. While some sources for power loss are inherent to the system, such as human soft tissue or musculoskeletal joint damping, other sources such as soft padding materials and bias strap forces can be modulated to optimize interface power transmission. Few methods currently exist for estimating power loss at physical human-robot interfaces, especially for upper-body exoskeletons. This letter presents a novel method to estimate interface power from experimental data in a wearable hand device, along with a simulation model for predicting interaction behavior by incorporating viscoelastic properties at the attachment interface. The experimental method is implemented with the Maestro hand exoskeleton, and repeatability of the interface power estimation is confirmed with pilot human testing. Simulation results are compared with experimental estimation of interface power, showing agreement of trends and validating the use of a simulation model to predict physical human-robot interaction behavior. These findings highlight the advantages of multi-body simulations as a tool to perform modular, inexpensive, and predictive investigations in physical human-robot interaction, without affecting the real-world mechatronic system or hindering the subject's safety. The proposed tools for experimental estimation of interface power and simulation modeling can optimize the design and control of robots for seamless integration with the human body.</p>
10adesign and human factors10aEstimation10aExoskeletons10ahuman-centered robotics10aPhysical human-robot interaction10aPower measurement10aRobots10aSea measurements10aTorque10aTorque measurement10awearable robotics1 aYousaf, Saad, N.1 aMukherjee, Gaurav1 aKing, Raymond1 aDeshpande, Ashish, D.  uhttps://reneu.robotics.utexas.edu/experimental-and-simulation-based-estimation-interface-power-during-physical-human-robot-interaction