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Development of a Kinematic Measurement Method for Knee Exoskeleton Fit to a User



Roger V. Bostelman, YaShian Li-Baboud, Karl Van Wyk, Mili Shah


Exoskeletons are now being marketed by several manufacturers and yet there are currently no defined methods to measure the exoskeleton fit to the user. Proper exoskeleton fit to user impacts the safety of the human robot interaction. In this paper, we develop a method to compare the exoskeleton and user kinematics. The method is intended to be simple to implement, and relatively non-invasive to the user in order to allow the measurement methods to be evaluated in manufacturing facilities where the exoskeletons would be used.
Technical Note (NIST TN) - 2107
Report Number


Exoskeleton, knee kinematics, artifact, optical tracking system, testbed, human subject


Bostelman, R. , Li-Baboud, Y. , Van, K. and Shah, M. (2020), Development of a Kinematic Measurement Method for Knee Exoskeleton Fit to a User, Technical Note (NIST TN), National Institute of Standards and Technology, Gaithersburg, MD, [online], (Accessed June 21, 2024)


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Created August 3, 2020, Updated August 4, 2020