{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,8,18]],"date-time":"2026-08-18T05:05:23Z","timestamp":1787029523747,"version":"3.56.0"},"reference-count":94,"publisher":"MDPI AG","issue":"11","license":[{"start":{"date-parts":[[2022,5,25]],"date-time":"2022-05-25T00:00:00Z","timestamp":1653436800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"European project EXOSAFE","award":["RRD7218.02.02"],"award-info":[{"award-number":["RRD7218.02.02"]}]},{"name":"European project EXOSAFE","award":["779966"],"award-info":[{"award-number":["779966"]}]},{"name":"COVR project","award":["RRD7218.02.02"],"award-info":[{"award-number":["RRD7218.02.02"]}]},{"name":"COVR project","award":["779966"],"award-info":[{"award-number":["779966"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Exoskeletons and exosuits have witnessed unprecedented growth in recent years, especially in the medical and industrial sectors. In order to be successfully integrated into the current society, these devices must comply with several commercialization rules and safety standards. Due to their intrinsic coupling with human limbs, one of the main challenges is to test and prove the quality of physical interaction with humans. However, the study of physical human\u2013exoskeleton interactions (pHEI) has been poorly addressed in the literature. Understanding and identifying the technological ways to assess pHEI is necessary for the future acceptance and large-scale use of these devices. The harmonization of these evaluation processes represents a key factor in building a still missing accepted framework to inform human\u2013device contact safety. In this review, we identify, analyze, and discuss the metrics, testing procedures, and measurement devices used to assess pHEI in the last ten years. Furthermore, we discuss the role of pHEI in safety contact evaluation. We found a very heterogeneous panorama in terms of sensors and testing methods, which are still far from considering realistic conditions and use-cases. We identified the main gaps and drawbacks of current approaches, pointing towards a number of promising research directions. This review aspires to help the wearable robotics community find agreements on interaction quality and safety assessment testing procedures.<\/jats:p>","DOI":"10.3390\/s22113993","type":"journal-article","created":{"date-parts":[[2022,5,25]],"date-time":"2022-05-25T05:12:27Z","timestamp":1653455547000},"page":"3993","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":79,"title":["Characterization and Evaluation of Human\u2013Exoskeleton Interaction Dynamics: A Review"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-7260-663X","authenticated-orcid":false,"given":"Stefano","family":"Massardi","sequence":"first","affiliation":[{"name":"Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain"},{"name":"Department of Mechanical and Industrial Engineering (DIMI), University of Brescia, 25100 Brescia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-9503-8508","authenticated-orcid":false,"given":"David","family":"Rodriguez-Cianca","sequence":"additional","affiliation":[{"name":"Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-0139-1261","authenticated-orcid":false,"given":"David","family":"Pinto-Fernandez","sequence":"additional","affiliation":[{"name":"Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain"},{"name":"Universidad Polit\u00e9cnica de Madrid (UPM), 28040 Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9561-7764","authenticated-orcid":false,"given":"Juan C.","family":"Moreno","sequence":"additional","affiliation":[{"name":"Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-2301-876X","authenticated-orcid":false,"given":"Matteo","family":"Lancini","sequence":"additional","affiliation":[{"name":"Department of Medical and Surgical Specialties, Radiological Sciences and Public Health (DSMC), University of Brescia, 25100 Brescia, Italy"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Diego","family":"Torricelli","sequence":"additional","affiliation":[{"name":"Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"1968","published-online":{"date-parts":[[2022,5,25]]},"reference":[{"key":"ref_1","unstructured":"Peters, M., and Wischniewski, S. 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