Static, Dynamic, and Cognitive Fit of Exosystems for the Human Operator

Objective To define static, dynamic, and cognitive fit and their interactions as they pertain to exosystems and to document open research needs in using these fit characteristics to inform exosystem design. Background Initial exosystem sizing and fit evaluations are currently based on scalar anthropometric dimensions and subjective assessments. As fit depends on ongoing interactions related to task setting and user, attempts to tailor equipment have limitations when optimizing for this limited fit definition. Method A targeted literature review was conducted to inform a conceptual framework defining three characteristics of exosystem fit: static, dynamic, and cognitive. Details are provided on the importance of differentiating fit characteristics for developing exosystems. Results Static fit considers alignment between human and equipment and requires understanding anthropometric characteristics of target users and geometric equipment features. Dynamic fit assesses how the human and equipment move and interact with each other, with a focus on the relative alignment between the two systems. Cognitive fit considers the stages of human-information processing, including somatosensation, executive function, and motor selection. Human cognitive capabilities should remain available to process task- and stimulus-related information in the presence of an exosystem. Dynamic and cognitive fit are operationalized in a task-specific manner, while static fit can be considered for predefined postures. Conclusion A deeper understanding of how an exosystem fits an individual is needed to ensure good human–system performance. Development of methods for evaluating different fit characteristics is necessary. Application Methods are presented to inform exosystem evaluation across physical and cognitive characteristics.

[1]  Xiaobo Zhang,et al.  Design and Control of a Powered Hip Exoskeleton for Walking Assistance , 2015 .

[2]  Jessica X. Brooks,et al.  Neural Correlates of Sensory Prediction Errors in Monkeys: Evidence for Internal Models of Voluntary Self-Motion in the Cerebellum , 2014, The Cerebellum.

[3]  Hugh M. Herr,et al.  Biomechanical walking mechanisms underlying the metabolic reduction caused by an autonomous exoskeleton , 2016, Journal of NeuroEngineering and Rehabilitation.

[4]  Steven P Davidson,et al.  Body-worn IMU array reveals effects of load on performance in an outdoor obstacle course , 2019, PloS one.

[5]  David L. Akin,et al.  Body Pose Measurement System (BPMS): An Inertial Motion Capture System for Biomechanics Analysis and Robot Control from Within a Pressure Suit. , 2012 .

[6]  M. Jeannerod.  Neural Simulation of Action: A Unifying Mechanism for Motor Cognition , 2001, NeuroImage.

[7]  Rachel W Jackson,et al.  Human-in-the-loop optimization of exoskeleton assistance during walking , 2017, Science.

[8]  D S Childress,et al.  Technical note: CIR sand casting system for transtibial socket , 2003, Prosthetics and orthotics international.

[9]  Julie F. Tremblay-Lutter,et al.  Functional Fit Evaluation to Determine Optimal Ease Requirements in Chemical Protective Gloves , 1996 .

[10]  Gabriel Baud-Bovy,et al.  Neural bases of hand synergies , 2013, Front. Comput. Neurosci..

[11]  Frans C. T. van der Helm,et al.  Influence of attachment pressure and kinematic configuration on pHRI with wearable robots , 2009 .

[12]  S. B. Hutton,et al.  Eye Tracking Methodology , 2019, Eye Movement Research.

[13]  Anne C. Sittig,et al.  The precision of proprioceptive position sense , 1998, Experimental Brain Research.

[14]  N. Hogan,et al.  Does the nervous system use equilibrium-point control to guide single and multiple joint movements? , 1992, The Behavioral and brain sciences.

[15]  A. Kuo,et al.  The high cost of swing leg circumduction during human walking. , 2017, Gait & posture.

[16]  Pierre Bertrand,et al.  Feasibility of Spacesuit Kinematics and Human-Suit Interactions , 2014 .

[17]  Rebecca L. Routson,et al.  Modular organization across changing task demands in healthy and poststroke gait , 2014, Physiological reports.

[18]  K B Mitchell,et al.  Standard Methodology for Assessment of Range of Motion While Wearing Body Armor , 2013 .

[19]  Bruce Bradtmiller,et al.  Development of sizing structure for fall arrest harness design , 2009, Ergonomics.

[20]  Sudhakar Rajulu,et al.  Model for Predicting the Performance of Planetary Suit Hip Bearing Designs , 2012 .

[21]  C. Ghez,et al.  Loss of proprioception produces deficits in interjoint coordination. , 1993, Journal of neurophysiology.

[22]  K G Munhall,et al.  Skill acquisition and development: the roles of state-, parameter, and graph dynamics. , 1992, Journal of motor behavior.

[23]  Kurt A. Thoroughman,et al.  Motor Adaptation Scaled by the Difficulty of a Secondary Cognitive Task , 2008, PloS one.

[24]  Matthew P Reed,et al.  Parametric body shape model of standing children aged 3–11 years , 2015, Ergonomics.

[25]  J. Thonnard,et al.  Dexterous Manipulation During Rhythmic Arm Movements in Mars, Moon, and Micro-Gravity , 2018, Front. Physiol..

[26]  Gionata Salvietti,et al.  Replicating Human Hand Synergies Onto Robotic Hands: A Review on Software and Hardware Strategies , 2018, Front. Neurorobot..

[27]  Brian Corner,et al.  Understanding the Physiological, Biomechanical, and Performance Effects of Body Armor Use , 2008 .

[28]  Huiju Park,et al.  Impact of ballistic body armour and load carriage on walking patterns and perceived comfort , 2013, Ergonomics.

[29]  Daniel Mirman,et al.  Multifractal Dynamics in the Emergence of Cognitive Structure , 2012, Top. Cogn. Sci..

[30]  Ho Chit Siu,et al.  Implementation of a Surface Electromyography-Based Upper Extremity Exoskeleton Controller Using Learning from Demonstration , 2018, Sensors.

[31]  David A. Morgan,et al.  Comparison of Extravehicular Mobility Unit (EMU) suited and unsuited isolated joint strength measurements , 1996 .

[32]  Daniel P Ferris,et al.  Locomotor adaptation to a powered ankle-foot orthosis depends on control method , 2007, Journal of NeuroEngineering and Rehabilitation.

[33]  Maura Casadio,et al.  Sensory motor remapping of space in human-machine interfaces. , 2011, Progress in brain research.

[34]  Kathleen M. Robinette,et al.  CAESAR: Summary Statistics for the Adult Population (Ages 18-65) of the United States of America , 2002 .

[35]  Damian G. Kelty-Stephen,et al.  Objective Metrics Quantifying Fit and Performance in Spacesuit Assemblies. , 2018, Aerospace medicine and human performance.

[36]  Christopher D. Wickens,et al.  Multiple resources and performance prediction , 2002 .

[37]  Paddy C Dempsey,et al.  Impact of police body armour and equipment on mobility. , 2013, Applied ergonomics.

[38]  Christopher D. Wickens,et al.  Multiple Resources and Mental Workload , 2008, Hum. Factors.

[39]  S. Schultz.  Principles of Neural Science, 4th ed. , 2001 .

[40]  Dana Valish,et al.  Space Suit Joint Torque Measurement Method Validation , 2012 .

[41]  Anatol G Feldman,et al.  Active sensing without efference copy: referent control of perception. , 2016, Journal of neurophysiology.

[42]  Pierre Pluye,et al.  The Mixed Methods Appraisal Tool (MMAT) version 2018 for information professionals and researchers , 2018, Educ. Inf..

[43]  Gavriel Salvendy,et al.  Handbook of Human Factors and Ergonomics , 2005 .

[44]  Sandra K. Moore,et al.  A glimpse from the inside of a space suit: What is it really like to train for an EVA?☆ , 2011 .

[45]  Nicola Vitiello,et al.  Sensing Pressure Distribution on a Lower-Limb Exoskeleton Physical Human-Machine Interface , 2010, Sensors.

[46]  M LeBlanc,et al.  The design and development of a gloveless endoskeletal prosthetic hand. , 1998, Journal of rehabilitation research and development.

[47]  V. Mercer,et al.  Dual‐Task Methodology: Applications in Studies of Cognitive and Motor Performance in Adults and Children , 2001, Pediatric physical therapy : the official publication of the Section on Pediatrics of the American Physical Therapy Association.

[48]  Tsui-Ying Kau,et al.  Firefighter Hand Anthropometry and Structural Glove Sizing , 2015, Hum. Factors.

[49]  S Hesse,et al.  Non-velocity-related effects of a rigid double-stopped ankle-foot orthosis on gait and lower limb muscle activity of hemiparetic subjects with an equinovarus deformity. , 1999, Stroke.

[50]  Sian L. Beilock,et al.  When paying attention becomes counterproductive: impact of divided versus skill-focused attention on novice and experienced performance of sensorimotor skills. , 2002, Journal of experimental psychology. Applied.

[51]  Aaron M. Dollar,et al.  Lower Extremity Exoskeletons and Active Orthoses: Challenges and State-of-the-Art , 2008, IEEE Transactions on Robotics.

[52]  Hongwei Hsiao.  Anthropometric Procedures for Protective Equipment Sizing and Design , 2013, Hum. Factors.

[53]  Mohan M. Trivedi,et al.  Head Pose Estimation in Computer Vision: A Survey , 2009, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[54]  Atilla Kilicarslan,et al.  Real-Time Strap Pressure Sensor System for Powered Exoskeletons , 2015, Sensors.

[56]  Kathleen H. Sienko,et al.  The effects of attractive vs. repulsive instructional cuing on balance performance , 2016, Journal of NeuroEngineering and Rehabilitation.

[57]  J. Bell-Krotoski,et al.  The repeatability of testing with Semmes-Weinstein monofilaments. , 1987, The Journal of hand surgery.

[58]  Tsui-Ying Kau,et al.  Evaluation of Fall Arrest Harness Sizing Schemes , 2007, Hum. Factors.

[59]  Todd N. Garlie,et al.  Effects of Body Armor Fit on Warfighter Mobility as Measured by Range of Motion (ROM) , 2018, Advances in Physical Ergonomics & Human Factors.

[60]  Michaela Bruton,et al.  Synergies in coordination: a comprehensive overview of neural, computational, and behavioral approaches. , 2018, Journal of neurophysiology.

[61]  Giovanni Pezzulo,et al.  Evidence for sparse synergies in grasping actions , 2018, Scientific Reports.

[62]  Daniel P Ferris,et al.  Locomotor adaptation to a soleus EMG-controlled antagonistic exoskeleton. , 2013, Journal of neurophysiology.

[63]  C Ghez,et al.  Roles of proprioceptive input in the programming of arm trajectories. , 1990, Cold Spring Harbor symposia on quantitative biology.

[64]  I. Kurtzer,et al.  Integrative Neuroscience Review Article Long-latency Reflexes Account for Limb Biomechanics through Several Supraspinal Pathways , 2022 .

[65]  Tom Carlson,et al.  Quantifying the human-robot interaction forces between a lower limb exoskeleton and healthy users , 2016, 2016 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC).

[66]  Robert J. Wood,et al.  Development of the Polipo Pressure Sensing System for Dynamic Space-Suited Motion , 2015, IEEE Sensors Journal.

[67]  Lorenzo T. D'Angelo,et al.  Individualized arm shells towards an ergonomic design of exoskeleton robots , 2014, 2014 IEEE International Conference on Systems, Man, and Cybernetics (SMC).

[68]  Mark L. Latash,et al.  Human Movements: Synergies, Stability, and Agility , 2018, Biomechanics of Anthropomorphic Systems.

[69]  D. Kahneman,et al.  Attention and Effort , 1973 .

[70]  Kurt A. Thoroughman,et al.  Beside the point: motor adaptation without feedback-based error correction in task-irrelevant conditions. , 2012, Journal of neurophysiology.

[71]  E. Bullmore,et al.  Mapping Motor Inhibition: Conjunctive Brain Activations across Different Versions of Go/No-Go and Stop Tasks , 2001, NeuroImage.

[72]  L. Stirling,et al.  Mobility and Agility During Locomotion in the Mark III Space Suit. , 2017, Aerospace medicine and human performance.

[73]  Silvestro Micera,et al.  Muscle synergies approach and perspective on application to robot-assisted rehabilitation , 2018 .

[74]  J. Collins,et al.  Vibrating insoles and balance control in elderly people , 2003, The Lancet.

[75]  Chris A. Ihrke,et al.  RoboGlove - A Robonaut Derived Multipurpose Assistive Device , 2014 .

[76]  Sudhakar Rajulu,et al.  Complexity of Sizing for Space Suit Applications , 2009, HCI.

[77]  David W Franklin,et al.  Increasing muscle co-contraction speeds up internal model acquisition during dynamic motor learning , 2018, Scientific Reports.

[78]  Huimin Hu,et al.  Investigation on Ergonomics Characteristics of Protective Clothing Based on Capture of Three-Dimensional Body Movements , 2007, HCI.

[79]  David Paloušek,et al.  3D Digitalization of the Human Body for Use in Orthotics and Prosthetics , 2012 .

[80]  Robert J. Wood,et al.  A lightweight soft exosuit for gait assistance , 2013, 2013 IEEE International Conference on Robotics and Automation.

[81]  Hyeg Joo Choi,et al.  A Manual for the Performance of Protective Equipment Fit-Mapping , 2009 .

[82]  R. Masters.  Knowledge, knerves and know-how: The role of explicit versus implicit knowledge in the breakdown of a complex motor skill under pressure , 1992 .

[83]  Jason Norcross,et al.  A Novel Method for Characterizing Spacesuit Mobility Through Metabolic Cost , 2014 .

[84]  M. Latash,et al.  Stability of vertical posture explored with unexpected mechanical perturbations: synergy indices and motor equivalence , 2018, Experimental Brain Research.

[85]  Pedro Arezes,et al.  Implications of Space Suit Injury Risk for Developing Computational Performance Models. , 2019, Aerospace medicine and human performance.

[86]  Robin H Hooper,et al.  The effect of single- or multiple-layered garments on interface pressure measured at the backpack-shoulder interface. , 2005, Applied ergonomics.

[87]  Sudhakar Rajulu,et al.  Preliminary Assessment of Ergonomic Injury Risk Factors in the Extravehicular Mobility Unit Spacesuit Glove , 2016 .

[88]  Edward Newton,et al.  Ease distribution in relation to the X-line style jacket. Part 1: Development of a mathematical model , 2006 .

[89]  Meredith McQuerry.  Effect of structural turnout suit fit on female versus male firefighter range of motion. , 2019, Applied ergonomics.

[90]  K. Rome,et al.  Reliability of capturing foot parameters using digital scanning and the neutral suspension casting technique , 2011, Journal of foot and ankle research.

[91]  Stefano Panzeri,et al.  Deciphering the functional role of spatial and temporal muscle synergies in whole-body movements , 2018, Scientific Reports.

[92]  J. Tome,et al.  Impact of Size of Fire boot and SCBA Cylinder on Firefighters’ Mobility , 2018, Clothing and Textiles Research Journal.

[93]  Ranjana K. Mehta,et al.  Neuroergonomics: a review of applications to physical and cognitive work , 2013, Front. Hum. Neurosci..

[94]  Simona Crea,et al.  A Flexible Sensor Technology for the Distributed Measurement of Interaction Pressure , 2013, Sensors.

[95]  Monica L. H. Jones,et al.  A Preliminary Investigation of the Effect of Protective Clothing Weight, Bulk and Stiffness on Combat Mobility Course Performance , 2016 .

[96]  Jens Rasmussen,et al.  Skills, rules, and knowledge; signals, signs, and symbols, and other distinctions in human performance models , 1983, IEEE Transactions on Systems, Man, and Cybernetics.

[97]  Younghee Kim,et al.  Protective overalls: evaluation of garment design and fit , 1997 .

[98]  Valay A. Shah,et al.  Supplemental vibrotactile feedback control of stabilization and reaching actions of the arm using limb state and position error encodings , 2017, Journal of NeuroEngineering and Rehabilitation.

[99]  Damian G. Stephen,et al.  Dynamics of representational change: entropy, action, and cognition. , 2009, Journal of experimental psychology. Human perception and performance.

[100]  N. M. Morris,et al.  On Looking into the Black Box: Prospects and Limits in the Search for Mental Models , 1986 .

[101]  Sudhakar Rajulu,et al.  An Ergonomic Evaluation of the Extravehicular Mobility Unit (EMU) Spacesuit Hard Upper Torso (HUT) Size Effect on Mobility, Strength, and Metabolic Performance , 2014 .

[102]  Sian L. Beilock,et al.  On the fragility of skilled performance: what governs choking under pressure? , 2001, Journal of experimental psychology. General.

[103]  Peng Li,et al.  Extracting surface area coverage by superimposing 3D scan data , 1999, Electronic Imaging.

[104]  Ho Chit Siu,et al.  Human Factors Considerations for Enabling Functional Use of Exosystems in Operational Environments , 2019, IEEE Systems Journal.

[105]  Scott Telfer,et al.  Computer-aided design of customized foot orthoses: reproducibility and effect of method used to obtain foot shape. , 2012, Archives of physical medicine and rehabilitation.

[106]  H. G. Stassen,et al.  Rasmussen’s model of human behavior in laparoscopy training , 2003, Surgical Endoscopy And Other Interventional Techniques.

[107]  HeeDon Lee,et al.  Development of human-robot interfacing method for assistive wearable robot of the human upper extremities , 2008, 2008 SICE Annual Conference.

[108]  Mitsuo Kawato,et al.  Equilibrium-Point Control Hypothesis Examined by Measured Arm Stiffness During Multijoint Movement , 1996, Science.

[109]  Elizabeth K Bye,et al.  An analysis of apparel industry fit sessions , 2005 .

[110]  J. Wann,et al.  Does limb proprioception drift? , 2004, Experimental Brain Research.

[111]  B. Martin,et al.  Age-Related Differences in Upper Limb Proprioceptive Acuity , 2007, Perceptual and motor skills.

[112]  Priya Shah,et al.  Technical Note: 3D Printing and Developing Patient Optimized Rehabilitation Tools (Port) - A Technological Leap , 2015 .

[113]  S L Rajulu,et al.  Work and fatigue characteristics of unsuited and suited humans during isolated isokinetic joint motions , 2002, Ergonomics.

[114]  Huiju Park,et al.  Impact of firefighter gear on lower body range of motion , 2015 .

[115]  Dava J. Newman,et al.  Dynamic Understanding of Human-Skin Movement and Strain-Field Analysis , 2012, IEEE Transactions on Biomedical Engineering.

[116]  Aaron M. Dollar,et al.  Biomechanical considerations in the design of lower limb exoskeletons , 2011, 2011 IEEE International Conference on Rehabilitation Robotics.

[117]  Leif Hasselquist,et al.  Effects of a lower-body exoskeleton device on metabolic cost and gait biomechanics during load carriage , 2010, Ergonomics.

[118]  Katherine M Steele,et al.  Muscle recruitment and coordination with an ankle exoskeleton. , 2017, Journal of biomechanics.

[119]  M. Jeannerod,et al.  Mental motor imagery: a window into the representational stages of action , 1995, Current Opinion in Neurobiology.

[120]  Susan P. Ashdown,et al.  Size-specific Analysis of Body Scan Data to Improve Apparel Fit , 2011 .

[121]  C. Wall,et al.  The effect of vibrotactile feedback on postural sway during locomotor activities , 2013, Journal of NeuroEngineering and Rehabilitation.

[122]  R.R. Neptune,et al.  An Experimental and Theoretical Framework for Manufacturing Prosthetic Sockets for Transtibial Amputees , 2006, IEEE Transactions on Neural Systems and Rehabilitation Engineering.

[123]  David G Lloyd,et al.  Integrating a hip belt with body armour reduces the magnitude and changes the location of shoulder pressure and perceived discomfort in soldiers* , 2018, Ergonomics.

[124]  Michael J. Black,et al.  SMPL: A Skinned Multi-Person Linear Model , 2023 .

[125]  Xiaolin Liu,et al.  Contributions of online visual feedback to the learning and generalization of novel finger coordination patterns. , 2008, Journal of neurophysiology.

[126]  Sudhakar Rajulu,et al.  Relating Linear and Volumetric Variables Through Body Scanning to Improve Human Interfaces in Space , 2010 .

[127]  Gregory S. Sawicki,et al.  Reducing the energy cost of human walking using an unpowered exoskeleton , 2015, Nature.

[128]  John Peter Scholz,et al.  A comparison of methods for identifying the Jacobian for uncontrolled manifold variance analysis. , 2010, Journal of biomechanics.

[129]  K. Miller.  Executive functions. , 2005, Pediatric annals.

[130]  Dava J. Newman,et al.  Pressure sensing for in-suit measurement of space suited biomechanics , 2015 .

[131]  Zhijiang Du,et al.  Development of a wearable exoskeleton rehabilitation system based on hybrid control mode , 2016 .

[132]  Hyeg Joo Choi,et al.  F-35 Protective Equipment Fit Assessment: Light Weight Coverall , 2011 .

[133]  Leia Stirling,et al.  The Effect of a Powered Lower-Body Exoskeleton on Physical and Cognitive Warfighter Performance , 2018 .

[134]  Conor J. Walsh,et al.  A biologically-inspired multi-joint soft exosuit that can reduce the energy cost of loaded walking , 2016, Journal of NeuroEngineering and Rehabilitation.

[135]  M. Morris,et al.  Dual task interference during gait in people with Parkinson disease: effects of motor versus cognitive secondary tasks. , 2002, Physical therapy.

[136]  Rezaul K Begg,et al.  Consensus paper on testing and evaluation of military exoskeletons for the dismounted combatant. , 2018, Journal of science and medicine in sport.

[137]  Dava J. Newman,et al.  A comparison of human skin strain fields of the elbow joint for mechanical counter pressure space suit development , 2015, 2015 IEEE Aerospace Conference.

[138]  Claire C. Gordon,et al.  Defining Extreme Sizes and Shapes for Body Armor and Load-Bearing Systems Design: Multivariate Analysis of U.S. Army Torso Dimensions. , 1997 .

[139]  S. Hart,et al.  Development of NASA-TLX (Task Load Index): Results of Empirical and Theoretical Research , 1988 .

[140]  Dirk De Clercq,et al.  Enhancing performance during inclined loaded walking with a powered ankle–foot exoskeleton , 2014, European Journal of Applied Physiology.

[141]  C. Baird,et al.  The pilot study. , 2000, Orthopedic nursing.

[142]  R. A. Brooks,et al.  Intelligence without Representation , 1991, Artif. Intell..

[143]  Ferdinando A. Mussa-Ivaldi,et al.  Tactile proprioceptive input in robotic rehabilitation after stroke , 2015, 2015 IEEE International Conference on Robotics and Automation (ICRA).

[144]  H. Choi,et al.  Effects of Body Armor Fit on Encumbered Anthropometry Relative to Bulk and Coverage , 2018, Advances in Physical Ergonomics & Human Factors.

[145]  V. Dietz.  Proprioception and locomotor disorders , 2002, Nature Reviews Neuroscience.

[146]  Matthew P Reed,et al.  A parametric model of child body shape in seated postures , 2017, Traffic injury prevention.

[147]  Christopher E Carr,et al.  Space suit bioenergetics: framework and analysis of unsuited and suited activity. , 2007, Aviation, space, and environmental medicine.

[148]  J. R. Simon,et al.  Auditory S-R compatibility: the effect of an irrelevant cue on information processing. , 1967, The Journal of applied psychology.