{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,3,27]],"date-time":"2026-03-27T17:45:43Z","timestamp":1774633543070,"version":"3.50.1"},"reference-count":39,"publisher":"MDPI AG","issue":"6","license":[{"start":{"date-parts":[[2022,3,21]],"date-time":"2022-03-21T00:00:00Z","timestamp":1647820800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/100007637","name":"Colciencias","doi-asserted-by":"publisher","award":["Grant 801-2017"],"award-info":[{"award-number":["Grant 801-2017"]}],"id":[{"id":"10.13039\/100007637","id-type":"DOI","asserted-by":"publisher"}]},{"DOI":"10.13039\/100007637","name":"Colciencias","doi-asserted-by":"publisher","award":["Grant 845-2020"],"award-info":[{"award-number":["Grant 845-2020"]}],"id":[{"id":"10.13039\/100007637","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Exoskeletons have been assessed by qualitative and quantitative features known as performance indicators. Within these, the ergonomic indicators have been isolated, creating a lack of methodologies to analyze and assess physical interfaces. In this sense, this work presents a three-dimensional relative motion assessment method. This method quantifies the difference of orientation between the user\u2019s limb and the exoskeleton link, providing a deeper understanding of the Human\u2013Robot interaction. To this end, the AGoRA exoskeleton was configured in a resistive mode and assessed using an optoelectronic system. The interaction quantified a difference of orientation considerably at a maximum value of 41.1 degrees along the sagittal plane. It extended the understanding of the Human\u2013Robot Interaction throughout the three principal human planes. Furthermore, the proposed method establishes a performance indicator of the physical interfaces of an exoskeleton.<\/jats:p>","DOI":"10.3390\/s22062411","type":"journal-article","created":{"date-parts":[[2022,3,21]],"date-time":"2022-03-21T21:48:42Z","timestamp":1647899322000},"page":"2411","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["Development of a 3D Relative Motion Method for Human\u2013Robot Interaction Assessment"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-8260-0100","authenticated-orcid":false,"given":"Felipe","family":"Ballen-Moreno","sequence":"first","affiliation":[{"name":"Robotics & Multibody Mechanics (R&MM) Research Group, Department of Mechanical Engineering, Vrije Universiteit Brussel, 1050 Brussels, Belgium"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9544-3127","authenticated-orcid":false,"given":"Margarita","family":"Bautista","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Bogota 111166, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-4610-9231","authenticated-orcid":false,"given":"Thomas","family":"Provot","sequence":"additional","affiliation":[{"name":"EPF Graduate School of Engineering, F-92330 Sceaux, France"},{"name":"Institut de Biom\u00e9canique Humaine Georges Charpak, Arts et Metiers Institute of Technology, F-75013 Paris, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0178-4858","authenticated-orcid":false,"given":"Maxime","family":"Bourgain","sequence":"additional","affiliation":[{"name":"EPF Graduate School of Engineering, F-92330 Sceaux, France"},{"name":"Institut de Biom\u00e9canique Humaine Georges Charpak, Arts et Metiers Institute of Technology, F-75013 Paris, France"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6942-865X","authenticated-orcid":false,"given":"Carlos A.","family":"Cifuentes","sequence":"additional","affiliation":[{"name":"School of Engineering, Science and Technology, Universidad del Rosario, Bogota 111711, Colombia"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-6595-5383","authenticated-orcid":false,"given":"Marcela","family":"M\u00fanera","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering, Colombian School of Engineering Julio Garavito, Bogota 111166, Colombia"}]}],"member":"1968","published-online":{"date-parts":[[2022,3,21]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"74","DOI":"10.1186\/s10033-019-0389-8","article-title":"A Review on Lower Limb Rehabilitation Exoskeleton Robots","volume":"32","author":"Shi","year":"2019","journal-title":"Chin. 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