A Novel Methodology for Exoskeleton Evaluation Using Collaborative Robots and Anthropometric Motion Replication

The development of human-centered exoskeletons is critical for addressing labor shortages and reducing musculoskeletal disorders. However, studying these systems presents challenges, including ethical concerns, variability in human behavior, and limitations in long-term studies. This work proposes a novel methodology that integrates natural human movement captured via motion capture systems, modular 3Dprinted anthropometric body segments for replicating relevant body parts, and collaborative robots (cobots) for simulating and reproducing calculated human motion patterns. Using an upper arm case study, an algorithm to translate motion data into precise control values for the cobot is developed, achieving high-fidelity motion reproduction. The results demonstrate a robust framework for overcoming human-based study limitations, advancing the design and validation of exoskeletons.