@Article{2010ACLI1560,
  author   = {Jarrassé, N. and Tagliabue, M. and Robertson, J. and Maiza, A. and Crocher, V. and Roby-Brami, A. and Morel, G.},
  journal  = {IEEE in Transactions on Neural Systems and Rehabilitation Engineering},
  title    = {A methodology to quantify alterations in human upper limb movement during co-manipulation with an exoskeleton},
  year     = {2010},
  month    = {juillet-aout},
  number   = {4},
  pages    = {389 - 397},
  volume   = {18},
  abstract = {While a large number of robotic exoskeletons have been designed by research teams for rehabilitation, it remains rather difficult to analyse their ability to finely interact with a human limb: no performance indicators or general methodology to characterize this capacity really exist. This is particularly regretful at a time when robotics are becoming a recognized rehabilitation method and when complex problems such as 3-D movement rehabilitation and joint rotation coordination are being addressed. The aim of this paper is to propose a general methodology to evaluate, through a reduced set of simple indicators, the ability of an exoskeleton to interact finely and in a controlled way with a human. The method involves measurement and recording of positions and forces during 3-D point to point tasks. It is applied to a 4 degrees-of-freedom limb exoskeleton by way of example.},
  category = {ACLI},
  doi      = {10.1109/TNSRE.2010.2056388},
  file     = {:http\://al.archives-ouvertes.fr/hal-02110660/document:PDF;:http\://www.n-jarrasse.fr/publis_medias/2010ACLI1560.jpg:JPG image},
  hal      = {y},
  hal_id   = {hal-02110660},
}