Abstract
Daily human activity is characterized by a broad variety of movement tasks. This work summarizes the sagittal hip, knee, and ankle joint biomechanics for a broad range of daily movements, based on previously published literature, to identify requirements for robotic design. Maximum joint power, moment, angular velocity, and angular acceleration, as well as the movement-related range of motion and the mean absolute power were extracted, compared, and analyzed for essential and sportive movement tasks. We found that the full human range of motion is required to mimic human like performance and versatility. In general, sportive movements were found to exhibit the highest joint requirements in angular velocity, angular acceleration, moment, power, and mean absolute power. However, at the hip, essential movements, such as recovery, had comparable or even higher requirements. Further, we found that the moment and power demands were generally higher in stance, while the angular velocity and angular acceleration were mostly higher or equal in swing compared to stance for locomotion tasks. The extracted requirements provide a novel comprehensive overview that can help with the dimensioning of actuators enabling tailored assistance or rehabilitation for wearable lower limb robots, and to achieve essential, sportive or augmented performances that exceed natural human capabilities with humanoid robots.
Highlights
A variety of robots are already a part of most industrial production lines, e.g., robotic arms are used to move and manipulate objects
While summaries of anthropometric data can already be found in literature (Winter, 2009), it is rare to find a comprehensive overview of performance values for human lower limb joints
When analyzing the gait related movement tasks on the difference of maximum moment and power during stance and swing phase, we found that all conditions and joints require higher moments during stance (Figure 3)
Summary
A variety of robots are already a part of most industrial production lines, e.g., robotic arms are used to move and manipulate objects. Humans like to increase robot capabilities to assess the potential for robotic assistance in daily life. Service robots (Mende et al, 2019) or social robots (Góngora Alonso et al, 2019) would need to move in urban environments and they require to use objects made for humans (e.g., cars, kitchen equipment). Many of these objects are adapted to the human body composition. Instead of moving independently like humanoid robots, lower limb wearable robots for those with walking capability have to move in conjunction with the human lower limbs. While summaries of anthropometric data can already be found in literature (Winter, 2009), it is rare to find a comprehensive overview of performance values for human lower limb joints
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