Fundamentals of ergonomic exoskeleton robots
This thesis is the first to provide the fundamentals of ergonomic exoskeleton design. The fundamental theory as well as technology necessary to analyze and develop ergonomic wearable robots interacting with humans is established and validated by experiments and prototypes. The fundamentals are (1) a new theoretical framework for analyzing physical human robot interaction (pHRI) with exoskeletons, and (2) a clear set of design rules of how to build wearable, portable exoskeletons to easily and smoothly interact with varying users in a haptic telemanipulation scenario. The fundamentals aim at providing the basis for truly human compatible exoskeleton design from a human as well as technological perspective.