Wearable Robotics: Challenges and Trends (eBook)

Contents 6
Wearable Sensors for RoboticExoskeletons 18
Position Sensing and Control with FMG Sensors for Exoskeleton Physical Assistance 19
Abstract 19
1 Introduction 19
2 FMG Sensor 20
3 Elbow Exoskeleton Design 20
4 SVM Implementation 20
4.1 Hardware Setup 20
4.2 Real-Time Estimation 21
5 Experiments and Results 21
5.1 Joint Angle Estimation 21
5.2 E-EXO Control 21
6 Conclusion 22
Acknowledgment 23
References 23
Force Localization Estimation Using a Designed Soft Tactile Sensor 24
Abstract 24
1 Introduction 24
2 Sensor Description and Test Setup 25
3 Force Localization Estimation 26
3.1 Data Gathering 26
3.2 Learning Algorithm 26
3.3 Estimation Results 27
4 Conclusion 27
References 28
EIT-Based Tactile Sensing Patches for Rehabilitation and Human Machine Interaction 29
1 Introduction 29
2 Materials and Methods 30
3 Results 31
4 Conclusions 32
References 32
Synthesis and Optimization Considerations for a Knee Orthosis Based on a Watt’s Six-Bar Linkage 34
Abstract 34
1 Introduction 34
2 Synthesis of the Basic Linkage 35
2.1 Grashof Condition and Geometry 36
3 Design and Optimization Considerations 36
3.1 Kinematic and Dynamic Optimization 36
4 Conclusion and Future Work 37
References 38
Wearable Sensory Apparatus Performance While Using Inertial Measurement Units 39
1 Introduction 39
2 Materials and Methods 40
2.1 Wearable Sensory Apparatus 40
2.2 Transfer Protocol of Sensors Signals 40
2.3 Background of Intention Detection Algorithms 41
3 Results 41
4 Discussion and Conclusion 42
References 43
WeFiTS: Wearable Fingertip Tactile Sensor 44
1 Introduction 44
2 Problem Definition 45
3 Materials and Methods 45
3.1 Design Criteria 46
3.2 Electromechanical Design of WeFiTS 46
4 Conclusion 48
References 48
Soft Wearable Robots 49
Characterisation of Pressure Distribution at the Interface of a Soft Exosuit: Towards a More Comfortable Wear 50
1 Introduction 50
2 Methods 52
3 Results and Conclusions 53
References 53
Realizing Soft High Torque Actuators for Complete Assistance Wearable Robots 54
1 Introduction 54
2 Pleated Pneumatic Interference Actuator for Knee Extension 55
2.1 Pleated Pneumatic Interference Actuator Orthosis 56
3 Results and Discussion 57
4 Conclusions and Future Work 57
References 58
Application of a User-Centered Design Approach to the Development of XoSoft – A Lower Body Soft Exoskeleton 59
Abstract 59
1 Introduction 59
2 User-Centered Design of XoSoft 60
2.1 User-Centered Design Principles 60
2.2 XoSoft Design Process and Methods 60
3 Practical Benefits and Challenges Encountered 62
3.1 Benefits of Implementing UCD to XoSoft 62
3.2 Challenges of Implementing UCD to XoSoft 62
4 Conclusion 62
Acknowledgment 62
References 63
Preliminary Experimental Study on Variable Stiffness Structures Based on Textile Jamming for Wearable Robotics 64
Abstract 64
1 Introduction 64
2 Textile Jamming 65
2.1 Concept 65
2.2 Prototyping and Experiments 65
3 Conclusions 67
References 67
Towards Embroidered Sensing Technologies for a Lower Limb Soft Exoskeleton 68
Abstract 68
1 Introduction 68
2 Materials and Methods 69
2.1 Embroidered Knee Sensor 69
3 Results 70
4 Conclusions 71
References 71
Recent Results from Evaluation of Soft Wearable Robots in Clinical Populations 73
Abstract 73
1 Introduction 73
2 Restoring Poststroke Gait 73
3 Restoring Grasp After Spinal Cord Injury 75
Acknowledgment 77
References 77
Subject-Centered Based Approaches for Controlling Wearable Robots 78
Toward an Affordable Multi-Modal Motion Capture System Framework for Human Kinematics and Kinetics Assessment 79
1 Introduction 79
2 Method 81
2.1 Mechanical Model 81
2.2 Measurement System 81
3 Experimental Validation 82
4 Conclusion 82
References 83
High Power Series Elastic Actuator Development for Torque-Controlled Exoskeletons 84
1 Introduction 84
2 Methods 85
2.1 Hardware Design 85
2.2 Torque Control 87
3 Discussion 88
References 88
Investigation on Variable Impedance Control for Modulating Assistance in Walking Strategies with the AUTONOMYO Exoskeleton 89
Abstract 89
1 Introduction 89
2 Materials and Methods 90
2.1 Exoskeleton AUTONOMYO 91
2.2 3-Phases Variable Impedance Controller 91
2.3 Method 92
3 Results 92
4 Discussion 92
5 Conclusion 93
References 93
Improving Usability of Rehabilitation Robots: Hand Module Evaluation of the ARMin Exoskeleton 94
1 Introduction 94
1.1 Usability of Rehabilitation Robots 94
1.2 Usability of Hand Modules for Rehabilitation 95
2 Methods 95
2.1 Patient Set-Up in the ARMin Rehabilitation Robot 95
2.2 Requirements for an Ideal ARMin Hand Module 96
3 Results 96
4 Discussion 97
5 Conclusion 97
References 98
Lower Limb Exoskeletons, from Specifications to Design 99
1 Introduction 99
2 Robotic Solutions for Rehabilitation 99
3 Presentation Outline 100
References 100
Robotic and Neuroprosthetic Balance Management Approaches for Walking Assistance 102
Novel Perturbation-Based Approaches Using Pelvis Exoskeleton Robot in Gait and Balance Training After Stroke 103
Abstract 103
1 Introduction 103
2 Methodology and Results 104
3 Conclusion 106
References 107
Balance During Bodyweight Supported and Robot-Assisted Walking 108
Abstract 108
1 Introduction 108
2 Materials and Methods 109
2.1 Participants 109
2.2 Materials and Methods 110
3 Results 110
4 Discussion and Conclusion 110
Acknowledgment 111
References 111
Maintaining Gait Balance After Perturbations to the Leg: Kinematic and Electromyographic Patterns 112
Abstract 112
1 Introduction 112
2 Methods 113
2.1 Experimental Setup 113
2.2 Data Analysis 113
3 Results and Discussion 114
4 Conclusion 115
Acknowledgment 116
References 116
A New Sensory Feedback System for Lower-Limb Amputees: Assessment of Discrete Vibrotactile Stimuli Perception During Walking 117
Abstract 117
1 Introduction 117
2 Materials and Methods 118
2.1 Experimental Setup 118
2.2 Experimental Protocol 119
2.3 Data Analysis 119
3 Results and Discussion 120
References 121
Fast Online Decoding of Motor Tasks with Single sEMG Electrode in Lower Limb Amputees 122
Abstract 122
1 Introduction 123
2 Methods 123
3 Results 124
4 Discussion 125
5 Conclusion 125
References 125
A Wearable Haptic Feedback System for Assisting Lower-Limb Amputees in Multiple Locomotion Tasks 127
Abstract 127
1 Introduction 127
2 Materials and Methods 128
2.1 System Setup 128
2.2 Experimental Protocol 128
2.3 Vibrotactile Stimulation Strategies 129
3 Results 130
4 Conclusion 130
References 131
Benchmarking Wearable Robots 132
COVR – Towards Simplified Evaluation and Validation of Collaborative Robotics Applications Across a Wide Range of Domains Based on Robot Safety Skills 133
Abstract 133
1 Introduction 133
2 Materials and Methods 134
2.1 Toolkit 134
2.2 Testing Protocols 134
2.3 Shared Safety Facilities 135
2.4 Realistic Trials/Financial Support for Third Parties 135
3 (Expected) Results 135
4 Discussion 136
5 Conclusions 136
References 136
Monitoring Upper Limbs During Exoskeleton-Assisted Gait Outdoors 137
Abstract 137
1 Introduction 137
2 Materials and Methods 138
3 Results 138
4 Discussion 139
5 Conclusion 140
Acknowledgment 140
References 140
What Do People Expect from Benchmarking of Bipedal Robots? Preliminary Results of the EUROBENCH Survey 142
Abstract 142
1 Introduction 142
2 Objectives and Structure of the Survey 143
3 Preliminary Results 143
4 Discussions and Conclusions 145
References 146
Modeling Human-Exoskeleton Interaction: Preliminary Results 147
Abstract 147
1 Introduction 147
2 Material and Methods 148
2.1 Interaction model 148
2.2 Equations 148
3 Results 149
4 Discussion 150
5 Conclusion 150
References 151
Human-in-the-Loop Bayesian Optimization of a Tethered Soft Exosuit for Assisting Hip Extension 152
Abstract 152
1 Introduction 152
2 Materials and Methods 153
3 Results 155
4 Discussion 155
Acknowledgment 155
References 155
A Review of Performance Metrics for Lower Limb Wearable Robots: Preliminary Results 157
Abstract 157
1 Introduction 157
2 Materials and Methods 158
3 Results 160
4 Discussion 160
5 Conclusions and Future Work 160
References 161
Flexible and Transparent Technologies for Innovative Wearable Robotics 162
Development of Polymer Optical Fiber Sensors for Lower Limb Exoskeletons Instrumentation 163
Abstract 163
1 Introduction 163
2 Material and Methods 164
3 Results and Discussion 165
4 Conclusion 166
References 167
T-FLEX: Variable Stiffness Ankle-Foot Orthosis for Gait Assistance 168
1 Introduction 168
2 Methods 169
3 Results 170
4 Discussion 170
5 Conclusion 171
References 172
A Series Elastic Dual-Motor Actuator Concept for Wearable Robotics 173
1 Introduction 173
2 Series Elastic Dual-Motor Actuator 174
3 Methods 174
3.1 Equations 174
3.2 Optimization 176
4 Results and Discussion 176
5 Conclusion and Future Work 177
References 177
Towards Design Guidelines for Physical Interfaces on Industrial Exoskeletons: Overview on Evaluation Metrics 178
1 Introduction 178
2 State of the Art 179
2.1 Design 179
2.2 Evaluation Methodologies 179
3 Metrics 180
4 Conclusion 181
References 181
Design and Control of a Transparent Lower Limb Exoskeleton 183
1 Introduction 183
2 Modular Lower Limb Exoskeleton 184
3 Exoskeleton Evaluation and Control 185
4 Conclusions 187
References 187
Development and Testing of Full-Body Exoskeleton AXO-SUIT for Physical Assistance of the Elderly 188
1 Introduction 188
2 Design and Development of AXO-SUIT 189
2.1 The Lower-Body Subsystem LB-AXO 190
2.2 The Upper-Body Subsystem UB-AXO 190
3 System Testing 190
4 Conclusion 192
References 192
Wearable Robotics for Rehabilitation and Assistance in Latin America 193
Artificial Vision Algorithm for Object Manipulation with a Robotic Arm in a Semi-Autonomous Brain-Computer Interface 194
1 Introduction 194
2 Materials and Methods 195
3 Results 196
4 Conclusion 197
References 197
Design Specifications and Usability Issues Considered in the User Centered Design of a Wearable Exoskeleton for Upper Limb of Children with Spastic Cerebral Palsy 199
Abstract 199
1 Introduction 199
2 Materials and Methods 200
3 Results 201
4 Discussion and Conclusions 201
References 202
Stance Control with the Active Knee Orthosis ALLOR for Post-Stroke Patients During Walking 203
1 Introduction 203
2 Materials and Methods 204
2.1 Advanced Lower-Limb Orthosis for Rehabilitation (ALLOR) 204
2.2 Subjects 204
2.3 Protocol 205
3 Results 205
4 Conclusion 207
References 207
Gait Phase Detection for Lower Limb Prosthetic Devices 208
1 Introduction 208
2 Materials and Methods 209
2.1 Materials 209
2.2 Methods 209
3 Results 211
References 212
Lower Limb Exoskeletons in Latin-America 213
Abstract 213
1 Introduction 213
2 Lower Limb Exoskeletons in Latin-America 214
2.1 Allor 214
2.2 CPWalker 214
2.3 BioMot 215
2.4 Kinesis 215
2.5 Chief 216
3 Conclusion 216
References 216
Development of a Visual-Inertial Motion Tracking System for Muscular-Effort/Angular Joint-Position Relation to Obtain a Quantifiable Variable of Spasticity 217
1 Introduction 217
2 Hardware Description 217
3 Data Processing and Sensor Fusion 218
3.1 IMUs Data Acquisition and Signal Conditioning 218
3.2 Visual Data Acquisition 219
3.3 Sensor Fusion 219
4 Results 220
5 Conclusions 221
References 222
Wearable Robotic Solutions for Factories of the Future 223
Towards Standard Specifications for Back-Support Exoskeletons 224
1 Introduction 224
2 Methods 225
3 Discussion 225
4 Conclusion 227
References 227
Lift Movement Detection with a QDA Classifier for an Active Hip Exoskeleton 229
Abstract 229
1 Introduction 229
2 Methods 230
2.1 Experimental Setup and Protocol 230
2.2 Lift Detection Algorithm 231
3 Results 231
4 Discussion and Conclusion 232
References 232
The Effect of a Passive Trunk Exoskeleton on Functional Performance and Metabolic Costs 234
Abstract 234
1 Introduction 234
2 Objective 235
3 Methods 235
3.1 Passive Trunk Exoskeleton 235
3.2 Functional Performance 235
3.3 Metabolic Costs 236
4 Results 236
4.1 Functional Performance 236
4.2 Metabolic Costs 237
5 Conclusion 237
References 238
Industrial Wearable Exoskeletons and Exosuits Assessment Process 239
1 Introduction 239
2 Wearable Technology Industrial - Assessment 240
2.1 State of the Art Technologies 240
2.2 Testing Process 241
2.3 Evaluation Criteria 242
3 Conclusion and Discussion 242
References 243
Trunk Range of Motion in the Sagittal Plane with and Without a Flexible Back Support Exoskeleton 244
1 Introduction 244
2 Material and Methods 245
2.1 Requirements 245
2.2 Concept 245
2.3 Experiments 245
3 Results 246
4 Discussion 246
5 Conclusion 247
References 247
Real-Time Control of Quasi-Active Hip Exoskeleton Based on Gaussian Mixture Model Approach 249
1 Introduction 249
2 Materials and Methods 250
3 Results 251
4 Discussion 252
References 253
Optimizing Design Characteristics of Passive and Active Spinal Exoskeletons for Challenging Work Tasks 254
1 Introduction 254
2 Materials and Methods 255
2.1 Experiments 256
2.2 Human and Exoskeleton Model 256
2.3 Optimal Control Problem Solution 256
3 Results 257
4 Discussion 257
5 Conclusion 258
References 258
Human Modeling and Simulation for Neurorehabilitation Engineering 259
Calibration and Validation of a Skeletal Multibody Model for Leg-Orthosis Contact Force Estimation 260
Abstract 260
1 Introduction 260
2 Materials and Methods 261
3 Results 263
4 Discussion 263
5 Conclusions 264
References 264
A Continuous and Differentiable Mechanical Model of Muscle Force and Impedance 265
1 Introduction 265
2 Model 267
3 Results and Conclusion 268
References 269
SimCP: A Simulation Platform to Predict Gait Performance Following Orthopedic Intervention in Children with Cerebral Palsy 270
Abstract 270
1 Introduction 270
2 Materials and Methods 271
3 Results and Discussion 272
4 Conclusion 273
References 273
Bio-inspired Walking: From Humanoids to Assistive Devices 274
1 Introduction 274
2 General Framework 275
3 Humanoid Walking by Combining Reflexes and a CPG 275
4 Human Walking Assistance by Artificial Primitives 276
5 Conclusion 277
References 277
Design of a Hand Exoskeleton for Use with Upper Limb Exoskeletons 279
1 Introduction 279
2 Methods 279
2.1 Design Requirements 279
2.2 Actuation Method 280
2.3 Basic Topology 280
2.4 Link Length Optimization 281
3 Conclusion 282
References 283
A Real-time Graphic Interface for the Monitoring of the Human Joint Overloadings with Application to Assistive Exoskeletons 284
1 Introduction 284
2 Monitoring Method 285
3 Visual Feedback Interface 285
4 Conclusion 287
References 287
Smart Human-Machine Systems for Lower-Limb Assistance and Rehabilitation After Paralysis 289
Study of Algorithms Classifiers for an Offline BMI Based on Motor Imagery of Pedaling 290
Abstract 290
1 Introduction 290
2 Material and Methods 291
2.1 Subjects 291
2.2 Equipment 291
2.3 Experimental Setup 291
2.4 Signal Processing 292
3 Results 292
4 Discussion 294
5 Conclusion 294
References 294
Exoskeleton Control for Post-stoke Gait Training of a Paretic Limb Based on Extraction of the Contralateral Gait Phase 295
1 Introduction 295
2 Material and Methods 296
2.1 Lower-Limb Exoskeleton and Actuators 296
2.2 Gait Phase Extraction 296
2.3 Generating the Assistive Torque 297
3 Results 298
4 Discussion 299
References 299
Design of a Passive Exoskeleton to Support Sit-to-Stand Movement: A 2D Model for the Dynamic Analysis of Motion 300
Abstract 300
1 Introduction 300
2 Materials and Methods 301
2.1 Experimental Setup 301
2.2 Biomechanical Model 302
3 Results and Discussion 303
4 Conclusions 303
References 303
Walking Assistance of Subjects with Spinal Cord Injury with an Ankle Exoskeleton and Neuromuscular Controller 305
Abstract 305
1 Introduction 305
2 Material and Methods 306
2.1 Achilles Ankle Exoskeleton 306
2.2 Neuromuscular Controller 307
2.3 Enrolled Test Pilot 307
2.4 Controller Customization and Walking Training 307
2.5 Assessment 307
3 Results 308
4 Discussion 308
5 Conclusion 309
References 309
Center of Mass and Postural Adaptations During Robotic Exoskeleton-Assisted Walking for Individuals with Spinal Cord Injury 310
Abstract 310
1 Introduction 310
2 Material and Methods 311
2.1 Participant Demographics and Training Protocol 311
2.2 Data Collection and Statistical Analysis 311
3 Results 312
3.1 COM Excursions 312
3.2 COM Inclination Angles 312
4 Discussion 312
5 Conclusion 313
References 314
Exoskeleton Controller and Design Considerations: Effect on Training Response for Persons with SCI 315
Abstract 315
1 Introduction 315
2 Materials and Methods 316
2.1 Participant Demographics and Training Protocol 316
2.2 Data Collection and Statistical Analysis 316
3 Results 318
3.1 Gender and Velocity Comparison 318
3.2 Body Composition Variables 318
3.3 Spatial Temporal Variables and Inclination Angles 318
4 Discussion 318
5 Conclusion 318
References 319
Biorobotics Approaches to Understand and Restore Human Balance 320
Integrating Posture Control in Assistive Robotic Devices to Support Standing Balance 321
Abstract 321
1 Introduction 321
2 Results 322
2.1 Tests of the Four Basic Physical Disturbances 322
2.2 Achieving Conflict-Free Interaction and Co-operation Between Robotic and Human Postural Controls 323
3 Conclusions 324
References 324
A Computational Framework for Muscle-Level Control of Bi-lateral Robotic Ankle Exoskeletons 325
Abstract 325
1 Introduction 325
2 Method 326
3 Result and Discussion 328
4 Conclusion 328
References 328
A Conductive Fabric Based Smart Insole to Measure the Foot Pressure Distribution with High Resolution 329
Abstract 329
1 Introduction 329
2 Method 330
2.1 System Design 330
2.2 Experiment and Validation 330
3 Results 331
4 Discussion 331
5 Conclusion 332
References 333
Training Balance Recovery in People with Incomplete SCI Wearing a Wearable Exoskeleton 334
Abstract 334
1 Introduction 334
2 Materials and Methods 335
2.1 Subjects 335
2.2 Wearable Exoskeleton 335
2.3 Protocol 336
2.4 Data Analysis 336
3 Results 336
4 Conclusions 337
Acknowledgment 337
References 338
Modular Composition of Human Gaits Through Locomotor Subfunctions and Sensor-Motor-Maps 339
Abstract 339
1 Introduction 339
2 Locomotor Subfunctions 339
3 Sensor-Motor-Maps 340
4 Conclusion 342
Acknowledgment 342
References 342
Model-Based Posture Control for a Torque-Controlled Humanoid Robot 344
Abstract 344
1 Introduction 344
2 Balancing Controller 344
3 Experimental Validation 346
References 347
Exoskeleton Research in Europe 348
XoSoft - Iterative Design of a Modular Soft Lower Limb Exoskeleton 349
1 Introduction 349
2 System Development 350
2.1 User Centered Design 350
2.2 Beta 1 Prototype 351
2.3 Beta 2 Prototype 351
2.4 Gamma Prototype 351
3 Testing and Validation 351
3.1 Laboratory Testing 351
3.2 Clinical Testing 352
3.3 Home-Simulated Testing 352
4 Results and Conclusions 352
References 352
Preliminary Usability and Efficacy Tests in Neurological Patients of an Exoskeleton for Upper-Limb Weight Support 354
Abstract 354
1 Introduction 354
2 Materials and Method 355
2.1 LIGHTarm 355
2.2 Participants 355
2.3 Testing Procedure and Assessment 355
2.4 Outcome Measures 356
3 Results 356
4 Conclusions 357
References 357
Symbitron: Symbiotic Man-Machine Interactions in Wearable Exoskeletons to Enhance Mobility for Paraplegics 359
Abstract 359
1 Major Achievements 359
1.1 Symbitron Framework 359
1.1.1 EtherCAT 359
1.1.2 EtherLab and Symbitron Wiki 360
1.1.3 Simulink Libraries and GIT Repository 360
1.2 Symbitron Measurement Week 360
1.3 The Symbitron Modular Exoskeleton Hardware and Software 361
1.4 Successful Clinical Training and Evaluation with SCI Test Pilots 361
2 Final Results and Their Potential Impact and Use 362
Beyond Robo-Mate: Towards the Next Generation of Industrial Exoskeletons in Europe 363
1 Introduction 363
2 The Robo-Mate Project 364
2.1 Approach 364
2.2 Concept and Prototypes 364
2.3 Testing 364
2.4 Main Outcomes 365
3 Ongoing and Future Research 365
References 367
The SoftPro Project: Synergy-Based Open-Source Technologies for Prosthetics and Rehabilitation 368
1 Introduction 369
2 Materials and Methods 370
3 Results 370
4 Conclusion 371
References 371
EUROBENCH: Preparing Robots for the Real World 373
Abstract 373
1 Introduction 373
2 Why Benchmarking? 374
3 The Cascade Funding Approach 375
3.1 Developing the Framework 375
3.2 Validating the Framework 376
4 Conclusion 376
References 376
Poster Session 377
Actuation Requirements for Assistive Exoskeletons: Exploiting Knowledge of Task Dynamics 378
1 Introduction 378
2 Methods 379
2.1 Static Requirements: Maximum Torque 380
2.2 Dynamic Requirements: From Speed to Power 380
3 Discussion 380
4 Conclusion 381
References 381
Grasping Detection with Force Sensor Embedded in a Hand Exoskeleton 383
1 Introduction 383
2 Materials and Methods 384
2.1 Experimental Setup 384
2.2 Hand Exoskeleton 384
2.3 Force Sensor 385
3 Results 385
4 Conclusion 387
References 387
XoSoft Connected Monitor (XCM) Unsupervised Monitoring and Feedback in Soft Exoskeletons of 3D Kinematics, Kinetics, Behavioral Context and Control System Status 388
Abstract 388
1 Introduction 388
1.1 Research Question 390
2 Methods 390
3 Results 391
4 Conclusion 392
References 392
Tactile and Proximity Servoing by a Multi-modal Sensory Soft Hand 393
1 Introduction 393
2 Material and Methods 394
3 Results 395
4 Conclusions 396
References 397
Improved Fabrication of Soft Robotic Pad for Wearable Assistive Devices 398
Abstract 398
1 Introduction 398
2 Improved Fabrication of Soft Robotic Pad 399
3 Design of a Soft Assistive Device for Elbow Flexion 400
4 Conclusion 401
Acknowledgment 401
References 401
The Exosleeve: A Soft Robotic Exoskeleton for Assisting in Activities of Daily Living 403
Abstract 403
1 Introduction 403
2 Material and Methods 404
2.1 Exoskeleton and Actuator Design 404
2.2 Healthy Subject Testing 405
3 Results 405
4 Discussion and Future Work 406
References 406
Exoskeleton with Soft Actuation and Haptic Interface 407
Abstract 407
1 Introduction 407
2 Material and Methods 408
3 Results 409
4 Conclusion 410
Acknowledgment 410
References 410
Comparison of a Soft Exosuit and a Rigid Exoskeleton in an Assistive Task 412
1 Introduction 412
2 Materials and Methods 413
3 Results and Discussions 415
References 416
Design of Soft Exosuit for Elbow Assistance Using Butyl Rubber Tubes and Textile 417
1 Introduction 417
2 Material and Methods 418
3 Results 418
4 Conclusions 420
References 421
Optimizing Body Thickness of Watchband-Type Soft Pneumatic Actuator for Feedback of Prosthesis Grasping Force 422
Abstract 422
1 Introduction 422
2 Design and Basic Structure of Actuator 423
3 Method of Comparison and Experiments 424
4 Results and Discussion 424
5 Conclusion 425
References 426
The Effect of Negative Damping at the Hip Joint During Level Walking: A Preliminary Testing 427
1 Introduction 427
2 Material and Methods 428
2.1 Negative Damping Controller 428
2.2 Hip Exoskeleton 429
2.3 Methods 429
3 Results 430
4 Conclusion 431
References 431
Overview and Challenges for Controlling Back-Support Exoskeletons 432
1 Introduction 432
2 Methods 432
3 Discussion 434
4 Conclusion 435
References 435
Assessment of a Hand Exoskeleton Control Strategy Based on User's Intentions Classification Starting from Surface EMG Signals 437
1 Introduction 437
2 The Controlled Device 438
3 Control Strategy and Preliminary Tests 438
4 Results 440
5 Conclusion and Further Developments 440
References 441
Contribution of a Knee Orthosis to Walking 442
1 Introduction 442
2 Material and Methods 443
2.1 Model of the Biped 443
2.2 Definition of the Optimal Trajectories 443
2.3 Contribution of the Orthosis 444
3 Results 445
4 Conclusion 445
References 446
Human Trunk Stabilization with Hip Exoskeleton for Enhanced Postural Control 447
1 Introduction 447
2 Material and Methods 448
3 Results 449
4 Discussion 450
5 Conclusion 450
References 451
Development of a Wearable Haptic Feedback System for Limb Movement Symmetry Training 452
Abstract 452
1 Introduction 452
2 Material and Methods 453
3 Results and Discussion 454
4 Conclusion and Future Work 455
References 455
Failure Mode and Effect Analysis (FMEA)-Driven Design of a Planetary Gearbox for Active Wearable Robotics 457
Abstract 457
1 Introduction 457
2 FMEA-Driven Transmission Design 458
2.1 Product Specifications 458
2.2 System Structure and Functional Net 458
2.3 Failure Analysis: Consequences and Causes 458
2.4 Risk Assessment 459
2.5 Optimization 459
3 Results 460
4 Conclusion 460
References 460
Introducing Series Elastic Links 462
1 Introduction 462
2 Series Elastic Link Modeling 463
3 Series Elastic Link Implementation and Experimental Results 464
References 466
Polymer Optical Fiber Sensors Approaches for Insole Instrumentation 467
Abstract 467
1 Introduction 467
2 Material and Methods 468
3 Results and Discussion 469
4 Conclusion 470
References 471
Pushing the Limits: A Novel Tape Spring Pushing Mechanism to be Used in a Hand Orthosis 472
1 Introduction 472
2 Method 473
2.1 Tape Springs 473
2.2 Force Transmission Conceptual Design 473
2.3 Flattening of the Tape Spring 474
3 Results 475
4 Conclusion 475
References 476
Design and Preliminary Validation of a Smart Personal Flotation Device 477
1 Introduction 477
2 Materials and Methods 478
2.1 Design 478
2.2 Experimental Protocol and Data Analysis 479
3 Results and Discussion 479
4 Conclusion 480
References 481
Introducing Compound Planetary Gears (C-PGTs): A Compact Way to Achieve High Gear Ratios for Wearable Robots 482
1 Introduction 482
2 Common Gearboxes for Wearable Robots 483
2.1 Series Configuration of PGTs 483
2.2 Harmonic Drive 483
3 Compound Planetary Gear Train 484
3.1 Gear Ratio 484
3.2 Efficiency 485
3.3 Size 485
4 Conclusion and Future Work 486
References 486
Model-Based Approach in Developing a Hand Exoskeleton for Children: A Preliminary Study 487
1 Introduction 487
2 Hand Model 488
3 Exoskeleton 489
4 Results 490
5 Conclusion and Further Developments 490
References 491
Design of Bio-joint Shaped Knee Exoskeleton Assisting for Walking and Sit-to-Stance 492
Abstract 492
1 Introduction 492
2 Data Analysis 493
3 Design Parameters 493
4 Conclusion 495
References 496
ANT-M: Design of Passive Lower-Limb Exoskeleton for Weight-Bearing Assistance in Industry 497
Abstract 497
1 Introduction 497
2 Weight Lifting 498
3 Conceptual Design 498
4 Design Optimization 500
4.1 Model Preparation for Optimization 500
4.2 Topology Optimization 500
5 Conclusion 501
References 501
Effects of an Inclination-Controlled Active Spinal Exoskeleton on Spinal Compression Forces 502
Abstract 502
1 Introduction 502
2 Methods 503
2.1 Exoskeleton 503
2.2 Participants & Experimental Procedure
2.3 Data Analysis 504
2.4 Statistics 504
3 Results and Discussion 504
4 Conclusion 505
References 506
Novel Mechanism of Upper Limb Exoskeleton for Weight Support 507
Abstract 507
1 Introduction 507
2 Materials and Methods 508
3 Design Methodology 509
3.1 Scapulohumeral Rhythm Compensation 509
3.2 Force Transmission 510
4 Conclusion and Discussion 510
References 511
Human-Centered Design of an Upper-Limb Exoskeleton for Tedious Maintenance Tasks 512
1 Introduction 512
2 Exoskeleton Design 513
2.1 Concept of the Robotic System 513
2.2 Selection of Actuators 514
2.3 Exoskeleton Model 514
3 Validation of the Robotic System 515
4 Conclusion 515
References 516
A Supernumerary Soft Robotic Hand-Arm System for Improving Worker Ergonomics 517
1 Introduction 517
2 System Description 518
3 Improving Worker Ergonomics 519
4 Preliminary Results 521
References 521
An Optimization Approach to Design Control Strategies for Soft Wearable Passive Exoskeletons 522
Abstract 522
1 Introduction 522
2 Methods 523
2.1 Musculoskeletal and Soft Wearable Device Models 523
2.2 Optimization 523
3 Results 524
4 Discussion and Conclusions 525
Acknowledgment 526
References 526
Actuator Optimization for a Back-Support Exoskeleton: The Influence of the Objective Function 527
1 Introduction 527
2 Materials and Methods 528
3 Results 528
4 Discussion 530
5 Conclusion 530
References 531
Design of MobIle Digit Assistive System (MIDAS): A Passive Hand Extension Exoskeleton for Post Stroke Rehabilitation 532
Abstract 532
1 Introduction 532
2 Methods 533
2.1 DigEx Redesign 533
2.2 MIDAS Redesign 534
2.3 Friction, Bending, and Profile Reduction 534
2.4 Cam Quick-Change System 534
3 Results 534
4 Discussion and Conclusions 535
Acknowledgments 536
References 536
Correction to: Exoskeleton with Soft Actuation and Haptic Interface 537
Correction to: Chapter “Exoskeleton with Soft Actuation and Haptic Interface” in: M. C. Carrozza et al. (Eds.): Wearable Robotics: Challenges and Trends, BIOSYSROB 22, https://doi.org/10.1007/978-3-030-01887-0_79 537
Author Index 538