ExoKit让新手快速搭建可定制的机械外骨骼原型。
ExoKit: A Toolkit for Rapid Prototyping of Interactions for Arm-based Exoskeletons
- 模块化硬件+抽象交互接口，支持肩肘关节的快速组装与编程。
- 通过图形界面和命令行支持不同经验水平用户，降低开发门槛。
- 适合人机交互、机器人设计初学者快速验证创意。
外骨骼为人体运动与机器人驱动的无缝融合创造了独特交互空间。尽管潜力巨大，人-外骨骼交互在人机交互领域仍属未充分探索方向，主要受限于缺乏易用的原型工具。本文提出ExoKit，一个面向新手机器人的低成本、低保真度外骨骼快速原型工具包。它包含用于感测和驱动肩部与肘部关节的模块化硬件组件，易于制造并可灵活重构以实现定制功能与穿戴性。为简化交互行为编程，我们引入功能抽象层，封装高层人-外骨骼交互逻辑，可通过命令行、图形界面、Processing库或微控制器固件访问，适配不同技术背景用户。基于实现的应用案例及两项使用研究验证了ExoKit在早期交互设计中的通用性与易用性。
原文摘要 · Abstract (English)
Exoskeletons open up a unique interaction space that seamlessly integrates users' body movements with robotic actuation. Despite its potential, human-exoskeleton interaction remains an underexplored area in HCI, largely due to the lack of accessible prototyping tools that enable designers to easily develop exoskeleton designs and customized interactive behaviors. We present ExoKit, a do-it-yourself toolkit for rapid prototyping of low-fidelity, functional exoskeletons targeted at novice roboticists. ExoKit includes modular hardware components for sensing and actuating shoulder and elbow joints, which are easy to fabricate and (re)configure for customized functionality and wearability. To simplify the programming of interactive behaviors, we propose functional abstractions that encapsulate high-level human-exoskeleton interactions. These can be readily accessed either through ExoKit's command-line or graphical user interface, a Processing library, or microcontroller firmware, each targeted at different experience levels. Findings from implemented application cases and two usage studies demonstrate the versatility and accessibility of ExoKit for early-stage interaction design.
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