量化评估软机器人助行服的舒适性，验证其人体工学设计可行性。
Quantifying Ergonomics in the Elevate Soft Robotic Suit
- 通过动作捕捉与力传感器，测量肩部抬升时的力学表现。
- 200N拉力下4小时无不适，肩部压力约70-85kPa，体积压缩小于3%。
- 适合康复与日常辅助场景，为后续患者研究提供基础数据。
软体机器人服有望用于人体康复、辅助与增强。其轻量、低成本、紧凑结构使其适合健康及残障人群日常使用。然而，基于数据驱动、个性化且以舒适为核心的软材料人机界面设计仍面临挑战。本文对Elevate助行服——一种通过缆绳驱动辅助肩部抬升的软体机器人服——进行了定量人体工学与舒适性评估。利用动作捕捉系统与力传感器，测量了肩部抬升至70度时的力学特性。一名受试者参与了两场4小时实验，施加最高200N缆绳张力，全程无不适感。结果显示，肩部受压范围约为69.1–85.1 kPa（接近人手握力），躯干与上臂体积压缩分别小于3%和8%。这些结果为未来面向患者群体的研究提供了初步验证。
原文摘要 · Abstract (English)
Soft robotic suits have the potential to rehabilitate, assist, and augment the human body. The low weight, cost, and minimal form-factor of these devices make them ideal for daily use by both healthy and impaired individuals. However, challenges associated with data-driven, user-specific, and comfort-first design of human-robot interfaces using soft materials limit their widespread translation and adoption. In this work, we present the quantitative evaluation of ergonomics and comfort of the Elevate suit - a cable driven soft robotic suit that assists shoulder elevation. Using a motion-capture system and force sensors, we measured the suit's ergonomics during assisted shoulder elevation up to 70 degrees. Two 4-hour sessions were conducted with one subject, involving transmitting cable tensions of up to 200N with no discomfort reported. We estimated that the pressure applied to the shoulder during assisted movements was within the range seen in a human grasp (approximately 69.1-85.1kPa), and estimated volumetric compression of <3% and <8% across the torso and upper arm, respectively. These results provide early validation of Elevate's ergonomic design in preparation for future studies with patient groups.
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