This study introduces a novel metric called Interaction Portrait to evaluate human-exoskeleton interactions during assisted treadmill walking, focusing on three feedforward controllers: HTC, AMTC, and another unmentioned. Results showed that HTC effectively augmented power while reducing muscle activation and metabolic cost. In contrast, AMTC benefited rehabilitation by fostering user control, especially for lighter participants. The study emphasizes that users' weight influences their adaptation to these exoskeletons, suggesting tailored approaches to exoskeleton design based on individual characteristics.
The adaptation pattern to different controllers shows that lighter individuals gain more control with the AMTC while heavier individuals tend to rely on the HTC.
Our findings highlight the effectiveness of the HTC controller for power augmentation but suggest the AMTC's transparency benefits rehabilitation by increasing user reliance on their physical capabilities.
#exoskeletons #human-computer-interaction #adaptive-control #rehabilitation-engineering #biomechanics
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