ExoKit: A Toolkit for Rapid Prototyping of Interactions for Arm-based Exoskeletons

要旨

Exoskeletons open up a unique interaction space that seamlessly integrates users' body movements with robotic actuation. Despite its potential, human-exoskeleton interaction remains an underexplored area in HCI, largely due to the lack of accessible prototyping tools that enable designers to easily develop exoskeleton designs and customized interactive behaviors. We present ExoKit, a do-it-yourself toolkit for rapid prototyping of low-fidelity, functional exoskeletons targeted at novice roboticists. ExoKit includes modular hardware components for sensing and actuating shoulder and elbow joints, which are easy to fabricate and (re)configure for customized functionality and wearability. To simplify the programming of interactive behaviors, we propose functional abstractions that encapsulate high-level human-exoskeleton interactions. These can be readily accessed either through ExoKit's command-line or graphical user interface, a Processing library, or microcontroller firmware, each targeted at different experience levels. Findings from implemented application cases and two usage studies demonstrate the versatility and accessibility of ExoKit for early-stage interaction design.

著者
Marie Muehlhaus
Saarland Informatics Campus, Saarbrücken, Germany
Alexander Liggesmeyer
Saarland Informatics Campus, Saarbrücken, Germany
Jürgen Steimle
Saarland University, Saarland Informatics Campus, Saarbrücken, Germany
DOI

10.1145/3706598.3713815

論文URL

https://dl.acm.org/doi/10.1145/3706598.3713815

動画

会議: CHI 2025

The ACM CHI Conference on Human Factors in Computing Systems (https://chi2025.acm.org/)

セッション: Design for Physical Interactions

G318+G319
7 件の発表
2025-04-29 23:10:00
2025-04-30 00:40:00
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