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wearable robotics for Impaired Upper-Limb Assistance and Rehabilitation: State of the Art and Future Perspectives

IEEE ACCESS 2022年 10卷 106117-106134页

作者： Proietti, Tommaso Ambrosini, Emilia Pedrocchi, Alessandra Micera, Silvestro Scuola Super Sant Anna Biorobot Inst Dept Excellence Robot & AI I-56025 Pisa Italy Politecn Milan Dept Elect Informat & Bioengn NEAR Lab I-20133 Milan Italy Ecole Polytech Fed Lausanne EPFL Inst Bioengn Sch Engn Ctr Neuroprosthet Campus Biotech CH-1202 Geneva Switzerland

Despite more than thirty-five years of research on wearable technologies to assist the upper-limb and a multitude of promising preliminary results, the goal of restoring pre-impairment quality of life of people with physical disabilities has not been fully reached yet. Whether it is for rehabilitation or for assistance, nowadays robotics is still only used in a few high-tech clinics and hospitals, limiting the access to a small amount of people. This work provides a description of the three major "revolutions" occurred in the field (end-effector robots, rigid exoskeletons, and soft exosuits), reviewing forty-eight systems for the upper-limb (excluding hand-only devices) used in eighty-nine studies enrolling a clinical population before June 2022. The review critically discusses the state of the art, analyzes the different technologies, and compares the clinical outcomes, with the goal of determine new potential directions to follow.

关键词： Robots End effectors Exoskeletons wearable robots Limbs Assistive technologies Patient rehabilitation Assistance end-effectors exoskeletons exosuits rehabilitation wearable robotics

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wearable robotics, Industrial Robots and Construction Worker's Safety and Health

Wearable Robotics, Industrial Robots and Construction Worker...

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AHFE International Conference on Human Factors in Robots and Unmanned Systems

作者： Li, Rita Yi Man Ng, Daniel Ping Lung Hong Kong Shue Yan Univ Real Estate Res Ctr Real Estate & Econ Res Lab Hong Kong Hong Kong Peoples R China Hong Kong Shue Yan Univ Dept Business Adm Hong Kong Hong Kong Peoples R China

ISBN: (纸本)9783319603841;9783319603834

Workers' health always has an indispensable relationship with safety at work. Many different approaches are implemented on sites to improve workers' health condition. In this research study, we review robot and wearable robotics' applications on construction workers. Although there are many different types of robotic tools on sites, we conduct studies on some of the most updated tools such as high-tech robotic equipment.

关键词： wearable robotics Ergonomic tool arms Construction Safety Health

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An oscillator-based smooth real-time estimate of gait phase for wearable robotics

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AUTONOMOUS ROBOTS 2017年第3期41卷 759-774页

作者： Yan, Tingfang Parri, Andrea Garate, Virginia Ruiz Cempini, Marco Ronsse, Renaud Vitiello, Nicola Scuola Super Sant Anna BioRobot Inst Viale Rinaldo Piaggio 34 I-56025 Pontedera PI Italy Catholic Univ Louvain Inst Mech Mat & Civil Engn Pl Levant2 Bte L5-04-02 B-1348 Louvain La Neuve Belgium Catholic Univ Louvain Inst Neurosci Pl Levant2 Bte L5-04-02 B-1348 Louvain La Neuve Belgium Catholic Univ Louvain Louvain Bion Pl Levant2 Bte L5-04-02 B-1348 Louvain La Neuve Belgium Rehabil Inst Chicago Ctr Bion Med 345 E Super St Chicago IL 60610 USA Northwestern Univ Feinberg Sch Med Chicago IL 60611 USA Don Carlo Gnocchi Fdn Via Scandicci 265 Florence Italy

This paper presents a novel methodology for estimating the gait phase of human walking through a simple sensory apparatus. Three subsystems are combined: a primary phase estimator based on adaptive oscillators, a desired gait event detector and a phase error compensator. The estimated gait phase is expected to linearly increase from 0 to 2 rad in one stride and remain continuous also when transiting to the next stride. We designed two experimental scenarios to validate this gait phase estimator, namely treadmill walking at different speeds and free walking. In the case of treadmill walking, the maximum phase error at the desired gait events was found to be 0.155 rad, and the maximum phase difference between the end of the previous stride and beginning of the current stride was 0.020 rad. In the free walking trials, phase error at the desired gait event was never larger than 0.278 rad. Our algorithm outperformed against two other benchmarked methods. The good performance of our gait phase estimator could provide consistent and finely tuned assistance for an exoskeleton designed to augment the mobility of patients.

关键词： Real-time gait phase estimate Adaptive oscillators Phase error learning wearable robotics

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Soft, wearable robotics and Haptics: Technologies, Trends, and Emerging Applications

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PROCEEDINGS OF THE IEEE 2022年第2期110卷 246-272页

作者： Zhu, Mengjia Biswas, Shantonu Dinulescu, Stejara Iulia Kastor, Nikolas Hawkes, Elliot Wright Visell, Yon Univ Calif Santa Barbara Media Arts & Technol Program Santa Barbara CA 93106 USA Univ Calif Santa Barbara Calif NanoSyst Inst Santa Barbara CA 93106 USA Univ Calif Santa Barbara Dept Mech Engn Santa Barbara CA 93106 USA Univ Calif Santa Barbara Dept Elect & Comp Engn Media Arts & Technol Program Santa Barbara CA 93106 USA

Recent advances in the rapidly growing field of soft robotics highlight the potential for innovations in wearable soft robotics to meet challenges and opportunities affecting individuals, society, and the economy. Some of the most promising application areas include wearable haptic interfaces, assistive robotics, and biomedical devices. Several attributes of soft robotic systems make them well-suited for use in human-wearable applications. Such systems can be designed to accommodate the complex morphology and movements of the human body, can afford sufficient compliance to ensure safe operation in intimate proximity with humans, and can provide context-appropriate haptic feedback or assistance to their wearers. Many soft robotic systems have been designed to resemble garments or wearables that are already widely used today. Such systems could one day become seamlessly integrated into a myriad of human activities and environments. Here, we review emerging advances in wearable soft robotic technologies and systems, including numerous examples from prior research. We discuss important considerations for the design of such systems based on functional concerns, wearability, and ergonomics. We describe an array of design strategies that have been adopted in prior research. We review wearable soft robotics applications in diverse domains, survey sensing and actuation technologies, materials, and fabrication methods. We conclude by discussing frontiers, challenges, and future prospects for soft, wearable robotics.

关键词： Robots Soft robotics Robot sensing systems Performance evaluation Sensors Actuators Grasping Assistive technologies haptics material technologies soft robotics wearable robotics wearable technologies

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Cognitive Exoskeletons: Harnessing AI for Enhanced wearable robotics in Shipbuilding 1st

Cognitive Exoskeletons: Harnessing AI for Enhanced Wearable ...

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1st European Symposium on Artificial Intelligence in Manufacturing (ESAIM)

作者： Kanakis, Alexandros Katsampiris-Salgado, Konstantinos Zacharaki, Natalia Dimitropoulos, Nikos Makris, Sotiris Univ Patras Lab Mfg Syst & Automat Rion 26504 Greece

ISBN: (纸本)9783031574955;9783031574962

In recent years, manufacturing has been undergoing major changes in search of more flexible and intelligent solutions, powered by Industry 4.0. While automation is what drove previous progress in industry, not every process can be automated, therefore, there is still a need for humans to carry out more complex tasks. Thus, in order to increase productivity and efficiency, while maintaining flexibility, robots can assist operators in their tasks rather than replace them. This paper proposes techniques for achieving seamless Human - Robot Collaboration (HRC), with wearable robots equipped with cognitive abilities that make them aware of their environments and the tasks the operator is performing. The main focus is on semi-active exoskeletons with adjustable torque and how they can be made autonomous. Their awareness is powered by computer vision techniques, mainly using anRGB-Dcamera and can automatically adjust the level of assistance they provide to the operator based on what they perceive, rather than having the operator control them directly. Consequently, they do not only improve the workload of the operator, but this assistance is offered without requiring specific actions from the user. This solution mainly focuses on the shipbuilding industry and the various tasks the workers have to perform in which exoskeletons can aid them. Finally, a welding use case is presented demonstrating the various functionalities.

关键词： Machine vision Human action perception Gesture recognition wearable robotics Exoskeletons

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Characterization of Kinetic and Kinematic Parameters for wearable robotics 18th

Characterization of Kinetic and Kinematic Parameters for Wea...

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18th Annual Conference on Towards Autonomous robotics (TAROS)

作者： Solis-Ortega, Rodrigo D. Dehghani-Sanij, Abbas A. Martinez-Hernandez, Uriel Univ Leeds Leeds LS2 9JT W Yorkshire England

ISBN: (纸本)9783319641072;9783319641065

The design process of a wearable robotic device for human assistance requires the characterization of both kinetic and kinematic parameters (KKP) of the human joints. The first step in this process is to extract the KKP from different gait analyses studies. This work is based on the human lower limb considering the following activities of daily living (ADL): walking over ground, stairs ascending/descending, ramp ascending/descending and chair standing up. The usage of different gait analyses in the characterization process, causes the data to have great variations from one study to another. Therefore, the data is graphically represented using Matlab (R) and Excel (R) to facilitate its assessment. Finally, the characterization of the KKP performed was proved to be useful in assessing the data reliability by directly comparing all the studies between each other;providing guidelines for the selection of actuator capacities depending on the end application;and highlighting optimization opportunities such as the implementation of agonist-antagonist actuators for particular human joints.

关键词： wearable robotics Gait analysis Lower limb Kinematics Kinetics

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Thermophysiological aspects of wearable robotics: Challenges and opportunities

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Temperature 2023年第3期10卷 313-325页

作者： Rykaczewski, Konrad School for Engineering of Matter Transport and Energy Arizona State University Tempe AZ United States Julie Ann Wrigley Global Futures Laboratory Arizona State University Tempe AZ United States

Technological advancements in the last two decades have enabled development of a variety of mechanically supporting wearable robots (i.e. exoskeletons) that are transitioning to practice in medical and industrial settings. The feedback from industry and recent controlled studies is highlighting thermal discomfort as a major reason for the disuse of the devices and a substantial barrier to their long-term adoption. Furthermore, a brief overview of the devices and their intended applications reveals that many of the potential users are likely to face thermal comfort issues because of either high exertion or medically related high heat sensitivity. The aim of this review is to discuss these emerging thermal challenges and opportunities surrounding wearable robots. This review discusses mechanisms, potential solutions, and a platform for systematically measuring heat transfer inhibition caused by wearing of an exoskeleton. Lastly, the potential for substantial metabolic rate reduction provided by exoskeletons to reduce worker thermal strain in warm-to-hot conditions is also considered. © 2022 Informa UK Limited, trading as Taylor & Francis Group.

关键词： exoskeleton personal cooling Thermal comfort wearable robotics

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Biologically Inspired Legs and Novel Flow Control Valve Toward a New Approach for Accessible wearable robotics

Biologically Inspired Legs and Novel Flow Control Valve Towa...

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作者： Shannon Marija Moffat Worcester Polytechnic Institute

学位级别：硕士

The Humanoid Walking Robot (HWR) is a research platform for the study of legged and wearable robots actuated with Hydro Muscles. The fluid operated HWR is representative of a class of biologically inspired, and in some aspects highly biomimetic robotic musculoskeletal appendages showing certain advantages in comparison to more conventional artificial limbs and braces for physical therapy/rehabilitation, assistance of daily living, and augmentation. The HWR closely mimics the human body structure and function, including the skeleton, ligaments, tendons, and muscles. The HWR can emulate close to human-like movements even when subjected to simplified control laws. One of the main drawbacks of this approach is the inaccessibility of an appropriate fluid flow management support system, in the form of affordable, lightweight, compact, and good quality valves suitable for robotics applications. To resolve this shortcoming, the Compact Robotic Flow Control Valve (CRFC Valve) is introduced and successfully proof-of-concept tested. The HWR added with the CRFC Valve has potential to be a highly energy efficient, lightweight, controllable, affordable, and customizable solution that can resolve single muscle action.

关键词： artificial muscle biomimetic design flow control valve humanoid robot Hydro Muscle pneumatics soft robotics wearable robotics

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NeuroSuitUp: System Architecture and Validation of a Motor Rehabilitation wearable robotics and Serious Game Platform

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SENSORS 2023年第6期23卷 3281页

作者： Mitsopoulos, Konstantinos Fiska, Vasiliki Tagaras, Konstantinos Papias, Athanasios Antoniou, Panagiotis Nizamis, Konstantinos Kasimis, Konstantinos Sarra, Paschalina-Danai Mylopoulou, Diamanto Savvidis, Theodore Praftsiotis, Apostolos Arvanitidis, Athanasios Lyssas, George Chasapis, Konstantinos Moraitopoulos, Alexandros Astaras, Alexander Bamidis, Panagiotis D. D. Athanasiou, Alkinoos Aristotle Univ Thessaloniki Fac Hlth Sci Sch Med Med Phys & Digital Innovat Lab Thessaloniki 54124 Greece Univ Twente Dept Design Prod & Management NL-7522 NB Enschede Netherlands Int Hellen Univ Dept Physiotherapy Thessaloniki 57400 Greece Amer Coll Thessaloniki Dept Comp Sci Thessaloniki 55535 Greece

Background: This article presents the system architecture and validation of the NeuroSuitUp body-machine interface (BMI). The platform consists of wearable robotics jacket and gloves in combination with a serious game application for self-paced neurorehabilitation in spinal cord injury and chronic stroke. Methods: The wearable robotics implement a sensor layer, to approximate kinematic chain segment orientation, and an actuation layer. Sensors consist of commercial magnetic, angular rate and gravity (MARG), surface electromyography (sEMG), and flex sensors, while actuation is achieved through electrical muscle stimulation (EMS) and pneumatic actuators. On-board electronics connect to a Robot Operating System environment-based parser/controller and to a Unity-based live avatar representation game. BMI subsystems validation was performed using exercises through a Stereoscopic camera Computer Vision approach for the jacket and through multiple grip activities for the glove. Ten healthy subjects participated in system validation trials, performing three arm and three hand exercises (each 10 motor task trials) and completing user experience questionnaires. Results: Acceptable correlation was observed in 23/30 arm exercises performed with the jacket. No significant differences in glove sensor data during actuation state were observed. No difficulty to use, discomfort, or negative robotics perception were reported. Conclusions: Subsequent design improvements will implement additional absolute orientation sensors, MARG/EMG based biofeedback to the game, improved immersion through Augmented Reality and improvements towards system robustness.

关键词： body-machine interface human-robot interaction neural rehabilitation robotic glove robotic jacket serious game soft robotics spinal cord injury stroke wearable robotics

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Effects of control parameters of wearable robotics on muscle activity during assisted elbow flexion

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INTERNATIONAL JOURNAL OF INDUSTRIAL ERGONOMICS 2024年 104卷

作者： Yang, Yuan Yeoh, Wen Liang Choi, Jeewon Luecha, Teerapapa Loh, Ping Yeap Muraki, Satoshi Kyushu Univ Grad Sch Design Dept Design Fukuoka Japan Saga Univ Fac Sci & Engn Saga Japan Dong A Univ Dept Ind Management Engn Busan South Korea Kyushu Univ Fac Design Dept Human Life Design & Sci Fukuoka Japan

One way to provide assistance in a dynamic lifting task is to pre-emptively move the exoskeleton based on a predicted reference trajectory. However, the level of aggressiveness in the prediction (i.e., how far ahead in time) and the exoskeleton's degree of adherence to the reference trajectory (stiffness) are not yet fully understood. This study investigated the effects of stiffness and pre-emptive offset parameters in an impedance-controlled robotic arm on muscle activation and perceived exertion of the user. Thirteen participants were instructed to lift a load equivalent to 15% of their maximal voluntary contracted force in collaboration with a robotic arm with 40 degrees-135 degrees of elbow flexion in 1.12 s. Three levels of stiffness (lower: 0.1 N m deg- 1 , medium: 0.2 N m deg- 1 , and higher: 0.31 N m deg- 1 ) and two levels of pre-emptive offsets (shorter: 0.1 s and longer: 0.4 s) were investigated. We found that (1) during 0-0.5 s (acceleration stage) of elbow flexion, a higher stiffness level and a longer preemptive offset decreased muscle activity;(2) during 0.5-1 s (deceleration stage) of elbow flexion, medium and higher stiffness with a shorter pre-emptive offset decreased muscle activity;(3) the perceived exertion and assistance of participants were improved with a higher stiffness and a longer pre-emptive offset, whereas cooperation was rated higher at a shorter pre-emptive offset under higher stiffness. This study reveals that the optimal parameters for stiffness and pre-emptive offsets for predictive impedance controls are different for different stages of elbow flexion.

关键词： wearable robotics Human-robot collaboration Compliance Assistive effectiveness Impedance control

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