Review
Biotechnology & Applied Microbiology
Athar Ali, Vigilio Fontanari, Werner Schmoelz, Sunil K. Agrawal
Summary: Back support exoskeletons are being developed to support the spine and distribute the spine load, aiming to reduce lower back pain and musculoskeletal injuries for workers engaged in physical workload and manual material handling tasks. However, various technical challenges and a lack of established safety standards limit the widespread adoption of exoskeletons in industry.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2021)
Article
Robotics
Weiqun Wang, Xu Liang, Shengda Liu, Tianyu Lin, Pu Zhang, Zhen Lv, Jiaxing Wang, Zeng-Guang Hou
Summary: This study proposes a new concept of drivable space to evaluate the work spaces of rehabilitation robots and designs a method for expanding the drivable space. The method improves torque estimation accuracies and optimizes torque error distribution, which further expands the drivable space. The performance of the proposed methods is demonstrated and validated on a lower limb rehabilitation robot.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Robotics
Christopher Caulcrick, Weiguang Huo, Will Hoult, Ravi Vaidyanathan
Summary: Human-robot cooperation is crucial for optimizing lower limb exoskeletons, with muscle activity mapped through EMG and MMG widely recognized as usable sensor input. This study investigates the benefits of EMG and MMG sensing modalities for calculating human torque input in LLE control, with neural networks achieving the best performance in joint torque prediction experiments.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Robotics
Yves Zimmermann, Jaeyong Song, Cedric Deguelle, Julia Laderach, Lingfei Zhou, Marco Hutter, Robert Riener, Peter Wolf
Summary: Exoskeleton robots have found applications in various areas such as neurorehabilitation, telemanipulation, and power augmentation. However, existing attachment concepts have imposed limitations on the performance of modern exoskeletons due to issues like insufficient stiffness, time-consuming adaption processes, and bulkiness. In this study, an augmented attachment system was proposed and compared to a conventional solution. The results showed that the proposed system significantly reduced the relative motion between the human and the robot, mitigated undesired contacts, and facilitated better alignment with the user's anatomy.
IEEE TRANSACTIONS ON ROBOTICS
(2023)
Article
Engineering, Biomedical
Craig G. Mcdonald, Benjamin J. Fregly, Marcia K. O'Malley
Summary: Changes in muscle synergies can be correlated to functional changes resulting from neurological injury, serving as an indicator of motor impairment. Using a rehabilitation robot to constrain limb movements during training may not alter a subject's muscle synergies, as suggested by preliminary results.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
Article
Chemistry, Multidisciplinary
Juan C. Yepes, Santiago Rua, Marisol Osorio, Vera Z. Perez, Jaime A. Moreno, Adel Al-Jumaily, Manuel J. Betancur
Summary: This paper proposes two human-robot interaction torque estimation methods to cope with uncertainties of Body Segment Inertial Parameters (BSIPs) by using online parameter estimation and estimated parameters. The effectiveness and superiority of these methods are demonstrated through simulations.
APPLIED SCIENCES-BASEL
(2022)
Article
Automation & Control Systems
Xueyan Xing, Kamran Maqsood, Deqing Huang, Chenguang Yang, Yanan Li
Summary: An iterative-learning-based robotic controller is proposed in this article to provide a prescribed assistance or resistance force to human users. The controller learns the characteristic parameter of human upper limb movement using measurable interaction force, a recursive least square (RLS) estimator, and the Adam optimization method. Experimental results show the effectiveness of the proposed method in supplying the prescribed interaction force to human users.
IEEE TRANSACTIONS ON AUTOMATION SCIENCE AND ENGINEERING
(2022)
Article
Engineering, Mechanical
Di Shi, Wuxiang Zhang, Wei Zhang, Linhang Ju, Xilun Ding
Summary: The study proposes a human-centered adaptive control method for a lower limb rehabilitation robot, which overcomes errors and uncertainties by establishing human-robot interaction and dynamic models, and designing an adaptive controller to ensure system stability.
MECHANISM AND MACHINE THEORY
(2021)
Review
Engineering, Biomedical
Alberto Gonzalez, Lorenzo Garcia, Jeff Kilby, Peter McNair
Summary: Children with physical disabilities face limitations in daily activities, highlighting the importance of rehabilitation to improve independence and quality of life. Robotic rehabilitation has shown potential, but current devices mainly cater to adult patients, neglecting the needs of paediatric patients. Critical factors for successful design of devices for children include weight, safety, operability, and motivation.
BIOMEDICAL ENGINEERING ONLINE
(2021)
Article
Engineering, Biomedical
Jong In Han, Jeong-Hoon Lee, Ho Seon Choi, Jung-Hoon Kim, Jongeun Choi
Summary: This paper presents a novel approach for designing a robotic orthosis controller considering physical human-robot interaction (pHRI) using deep reinforcement learning. The proposed method utilizes computer simulation to save design time and cost, and uses a two-stage policy training framework and musculoskeletal models to assist human walking.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Article
Biotechnology & Applied Microbiology
Jiajun Xu, Kaizhen Huang, Tianyi Zhang, Kai Cao, Aihong Ji, Linsen Xu, Youfu Li
Summary: Robot-assisted rehabilitation has the potential to enhance motor function of patients with physical and neurological impairments. This study proposes a control framework that adjusts both the training task and robotic assistance based on the individual's performance, estimated from electromyography signals. Experimental results with a lower extremity rehabilitation robot demonstrate that this control scheme can optimize robotic assistance and improve the efficiency of completing the training task.
FRONTIERS IN BIOENGINEERING AND BIOTECHNOLOGY
(2023)
Article
Chemistry, Multidisciplinary
Giovanni Boschetti, Teresa Sinico, Alberto Trevisani
Summary: The automation of bin-picking processes has been a research topic for almost two decades. General-purpose equipment, however, still does not show adequate success rates to find application in most industrial tasks. Human-robot collaboration in bin-picking tasks can increase the success rate by exploiting human perception and handling skills and the robot ability to perform repetitive tasks.
APPLIED SCIENCES-BASEL
(2023)
Article
Engineering, Biomedical
Tiange Zhang, David J. Braun
Summary: This study proposes a human-driven robot exoskeleton system that can assist humans in accelerating and maintaining high walking speeds, especially when carrying heavy loads. The exoskeleton system utilizes mechanically adaptive spring limbs that emulate the load-bearing mechanics of a bicycle, thus enhancing human weight-bearing and fast-walking abilities.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Review
Engineering, Biomedical
Elena Bardi, Marta Gandolla, Francesco Braghin, Ferruccio Resta, Alessandra L. G. Pedrocchi, Emilia Ambrosini
Summary: Soft robotic wearable devices, known as exosuits, have great potential for daily upper limb support as an alternative to rigid exoskeletons. This review explores the current approaches in design and production steps, focusing on different actuation types and intention detection strategies to support key joints such as elbow and shoulder.
JOURNAL OF NEUROENGINEERING AND REHABILITATION
(2022)
Article
Chemistry, Multidisciplinary
Oscar G. Hernandez, Vicente Morell, Jose L. Ramon, Carlos A. Jara
Summary: This study aimed to evaluate and compare the angles in the elbow and shoulder joints estimated by OpenPose and Detectron 2 during four typical upper-limb rehabilitation exercises. The setup utilized two Kinect 2 RGBD cameras to obtain the ground truth of the joint and skeleton estimations. The results showed that OpenPose outperformed Detectron 2 in these types of applications.
APPLIED SCIENCES-BASEL
(2021)
Article
Instruments & Instrumentation
A. Erwin, K. J. Stone, D. Shelton, I. Hahn, W. Huie, L. A. N. de Paula, N. C. Schmerr, H. J. Paik, T. C. P. Chui
Summary: This study presents the physics and experimental implementation of electrostatic frequency reduction (EFR) in a mechanical oscillator as a method to measure dissipation as a function of frequency. Experimental measurements of the loss angle for different frequencies indicate that internal friction and electrostatic damping are the prominent loss mechanisms in the system.
REVIEW OF SCIENTIFIC INSTRUMENTS
(2021)
Article
Neurosciences
Jacob Weinman, Paria Arfa-Fatollahkhani, Andrea Zonnino, Rebecca C. Nikonowicz, Fabrizio Sergi
Summary: The study revealed that the long-latency response is modulated by several behavioral factors, with complex interactions among these factors. Muscle activation state, perturbation direction, velocity, and task instruction all significantly affect the amplitude of the long-latency response.
FRONTIERS IN HUMAN NEUROSCIENCE
(2021)
Article
Multidisciplinary Sciences
Andrea Zonnino, Andria J. Farrens, David Ress, Fabrizio Sergi
Summary: The novel technique StretchfMRI combines robotic perturbations with electromyography and fMRI to simultaneously quantify muscular and neural activity during stretch-evoked LLRs, revealing muscle-specific organization of LLR activity in the brainstem. The observed organization is partially consistent with animal models, showing activity primarily in the ipsilateral medulla for flexors and in the contralateral pons for extensors.
SCIENTIFIC REPORTS
(2021)
Article
Geochemistry & Geophysics
Andrew Erwin, Leandro A. N. de Paula, Nicholas C. Schmerr, David Shelton, Inseob Hahn, P. Roger Williamson, Ho Jung Paik, Talso C. P. Chui
Summary: This study emphasizes the importance of reducing long-period noise sources in future lunar seismometer design. By evaluating factors such as temperature sensitivity and Brownian noise, as well as their relationship with parameters like local gravity and thermoelastic coefficient, a new design approach is proposed.
BULLETIN OF THE SEISMOLOGICAL SOCIETY OF AMERICA
(2021)
Article
Automation & Control Systems
Stephen Buchanan, Fabrizio Sergi
Summary: This article presents a new computational model for analyzing the dynamics of cable-conduit systems and introduces an iterative linearization method for solving the system of nonlinear equations. The model and solution method are validated in a physical prototype, demonstrating the model's accurate prediction of behavior observed in the prototype. The newly developed iterative linearization solution method allows for a 100-fold increase in computation speed compared to a standard solver, and increasing the number of sensors improves accuracy in estimating cable tension.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Nanoscience & Nanotechnology
L. A. N. de Paula, H. J. Paik, N. C. Schmerr, A. Erwin, T. C. P. Chui, I. Hahn, P. R. Williamson
Summary: To achieve the objectives of the International Lunar Network, the next generation of lunar seismometers need to achieve a high level of sensitivity at 1mHz. The use of Electrostatic Frequency Reduction (EFR) technique can enhance sensitivity, but it may also amplify temperature sensitivity.
Article
Chemistry, Analytical
Talso C. P. Chui, Andrew Erwin, Inseob Hahn
Summary: Since its invention in 1955, the Galperin symmetric triaxial seismometer has been widely used for seismic detection on Earth, and most recently on the planet Mars. In this paper, we present detailed physics of such seismometers, which has not yet been published in open literature. We extended Galperin's original work, which is based on idealized geometry and assumptions, to include more practical cases, including (1) non-idealized tilt angles of its component seismometers; (2) component seismometers that are not exactly oriented 120 degrees apart; (3) distributed mass on the boom; and (4) the case of operations at lower frequencies.
Article
Physics, Multidisciplinary
Hesam Azadjou, Michalina Blazkiewicz, Andrew Erwin, Francisco J. Valero-Cuevas
Summary: This study demonstrates the use of dynamical analysis techniques to quantify the nature and features of neuromuscular expertise for discrete movements in elite athletes. The results show differences in dispersion, persistence, and regularity between professional and neophyte archers, indicating tighter neuromuscular control and more active corrections in professionals.
Article
Engineering, Biomedical
Andria J. Farrens, Kristin Schmidt, Hannah Cohen, Fabrizio Sergi
Summary: MRI-compatible robots are useful for studying complex sensorimotor learning processes, such as adaptation. Validating the measurements of motor performance obtained via these devices is critical for interpreting the neural correlates of behavior. A study was conducted to test two hypotheses related to lower adaptation and reduced trajectory errors observed in the wrist when using an MRI-compatible robot. Results supported the hypothesis that impedance control significantly contributes to reductions in trajectory errors.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2023)
Article
Astronomy & Astrophysics
Anicia Arredondo, Amoree Hodges, Jacob N. H. Abrahams, Candice C. Bedford, Benjamin D. Boatwright, Jennifer Buz, Clayton Cantrall, Joanna Clark, Andrew Erwin, Siddharth Krishnamoorthy, Lizeth Magana, Ryan M. McCabe, E. Carrie McIntosh, Jessica L. Noviello, Marielle Pellegrino, Christine Ray, Marshall J. Styczinski, Peter Weigel
Summary: This is a concept for a variable-altitude aerobot mission to Venus, aiming to study atmospheric superrotation, the source of D/H and noble gas inventory, light reflection properties, tesserae composition, and evidence of a recent dynamo. The mission would last for 15 days, floating at an altitude of 55 km and making five descents to 45 km to study Venus's lower atmosphere. The instrument payload includes measurements of the atmosphere, surface, and interior.
PLANETARY SCIENCE JOURNAL
(2022)
Proceedings Paper
Automation & Control Systems
GilHwan Kim, Fabrizio Sergi
Summary: The research aims to develop methods for training propulsion during walking with robotic exoskeletons that customize interventions based on individual responses. Gaussian processes were used to model the relationship between propulsion mechanics and robotic intervention parameters applied at the hip and knee joints, showing large variability in propulsive impulse among subjects and smaller variability in leg extension effects. Individualized training may be necessary for desired effects in propulsive force generation during walking.
2021 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)
(2021)
Article
Engineering, Biomedical
Haider A. Chishty, Andrea Zonnino, Andria J. Farrens, Fabrizio Sergi
Summary: The study introduces a low-impedance 2-DOF wrist exoskeleton UDW with different design strategies to achieve kinematic compatibility, and develops two versions for experimental comparison. Results show that UDW-NC with passive joints is more robust to misalignments compared to UDW-C, but it has greater Coulomb friction and less accurate torque transfer.
IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS
(2021)
Article
Engineering, Biomedical
Andrew Erwin, Craig G. McDonald, Nicholas Moser, Marcia K. O'Malley
Summary: SE-AssessWrist extends the capabilities of robotic devices by including complete wrist range of motion assessment and stiffness evaluation. Experimental validation showed that the device achieves desired range of motion and provides sufficient control performance for wrist biomechanical assessment. Measurements revealed that the axis of greatest range of motion and least stiffness were oblique to anatomical axes and approximately parallel to each other.
JOURNAL OF REHABILITATION AND ASSISTIVE TECHNOLOGIES ENGINEERING
(2021)
Proceedings Paper
Engineering, Biomedical
Andria J. Farrens, Fabrizio Sergi
2020 8TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)
(2020)
Proceedings Paper
Engineering, Biomedical
Ali H. Al-Timemy, Andrea Zonnino, Fabrizio Sergi
2020 8TH IEEE RAS/EMBS INTERNATIONAL CONFERENCE FOR BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)
(2020)
