Article
Engineering, Biomedical
Ana C. De Oliveira, James S. Sulzer, Ashish D. Deshpande
Summary: This study evaluated the joint angle tracking accuracy of the Harmony exoskeleton, finding good agreement with optical motion capture markers and suggesting that discrepancies were primarily due to soft tissue deformation. The results indicate that the Harmony exoskeleton is capable of providing accurate measurements of arm and shoulder joint kinematics, potentially enabling robot-assisted assessment and intervention for complex joint structures in the human body.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
Article
Computer Science, Information Systems
Sander De Groof, Yang Zhang, Laurent Peyrodie, Luc Labey
Summary: This paper presents a torque-controlled hip flexion/extension exoskeleton designed for individuals with cerebral palsy. It aims to mitigate hip extension deficit and excessive hip flexion observed in specific gait patterns. The exoskeleton features series elastic actuators and individualized orthotics, providing a higher extension torque during the stance phase.
Article
Automation & Control Systems
Xiaofeng Xiong, Cao Danh Do, Poramate Manoonpong
Summary: This article proposes a learning-based model for multifunctional elbow exoskeleton control, which uses online iterative learning and impedance adaptation mechanisms to achieve predictive and variable compliant joint control. The model is implemented on a lightweight and portable elbow exoskeleton, providing a novel technique for minimal mechatronics and sensing.
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
(2022)
Review
Chemistry, Multidisciplinary
Javier A. de la Tejera, Rogelio Bustamante-Bello, Ricardo A. Ramirez-Mendoza, Javier Izquierdo-Reyes
Summary: Exoskeletons play a crucial role in the future of humankind, assisting in rehabilitation and enhancing individual performance. This paper provides a review of the history and current uses of exoskeletons, as well as a categorization model for research in the field.
APPLIED SCIENCES-BASEL
(2021)
Article
Engineering, Biomedical
Emanuele Peperoni, Stefano Laszlo Capitani, Tommaso Fiumalbi, Eugenio Capotorti, Andrea Baldoni, Filippo Dell'Agnello, Ilaria Creatini, Elisa Taglione, Nicola Vitiello, Emilio Trigili, Simona Crea
Summary: In the context of hand and finger rehabilitation, a novel kinematic chain for the mobilization of the metacarpophalangeal (MCP) joint of the long fingers has been proposed. The mechanism can self-align with the human joint without hindering force transfer or inducing parasitic torque. Preliminary experiments have shown promising results and further investigations in a clinical scenario are encouraged.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2023)
Article
Automation & Control Systems
Clara B. Sanz-Morere, Matteo Fantozzi, Filippo dell Agnello, Andrea Baldoni, Francesco Giovacchini, Simona Crea, Nicola Vitiello
Summary: This study introduces a novel single-motor Active Knee Orthosis (AKO) with a dual-reduction actuator that selects between two different trains of gears. The AKO fulfills the requirements of walking and STS tasks in terms of range of motion, torque delivery, and angular speed. However, an upgraded version with a simpler clutch design is needed to achieve a lighter and more reliable exoskeleton with a more adequate weight distribution. The new version will allow for further investigation and intense subject testing.
Article
Robotics
Jun-ichiro Furukawa, Shotaro Okajima, Qi An, Yuichi Nakamura, Jun Morimoto
Summary: This study focuses on estimating and assisting a limited number of selected movements using an EMG-based movement classification and a lightweight exoskeleton robot. The results show that the approach can effectively assist the user's movements.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Engineering, Biomedical
Ung Heo, Jirou Feng, Sangjoon J. Kim, Jung Kim
Summary: To prevent lower back pain in the industrial workplace, various powered back support exoskeletons have been developed. However, conventional kinematics-triggered assistance strategies induce latency, degrading assistance efficiency. Therefore, a surface electromyography-triggered assistance strategy was proposed and experimentally evaluated, showing improved assistance efficiency and particular benefits in heavy external load situations.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Article
Robotics
Jesus de Miguel-Fernandez, Camille Pescatore, Alba Mesa-Garrido, Cindy Rikhof, Erik Prinsen, Josep M. Font-Llagunes, Joan Lobo-Prat
Summary: Recent studies have shown that ankle exoskeletons can improve gait biomechanics and walking performance for post-stroke individuals. This comprehensive experimental analysis and protocol evaluated a wide range of metrics and showed that the ABLE-S exoskeleton significantly corrected foot drop, reduced compensatory movements, and improved gait patterns.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Liang Ma, Yuquan Leng, Wei Jiang, Yuepeng Qian, Chenglong Fu
Summary: This study introduces an underactuated soft exoskeleton that can provide sequential assistance to the knee and ankle using only one motor. The experimental results show that the exoskeleton significantly reduces the load on the lower-limb joints and improves the effectiveness of motion.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Gabriel Aguirre-Ollinger, Haoyong Yu
Summary: A novel force control method for a SEA-driven lower-limb assistive exoskeleton is presented in this study, featuring alternating between different stiffness levels to control force, which can help correct the asymmetric gait typical of stroke survivors.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Engineering, Biomedical
Sergei V. Sarkisian, Marshall K. Ishmael, Tommaso Lenzi
Summary: Misalignments between powered exoskeleton joints and the user's anatomical joints are inevitable, but self-aligning mechanisms have been shown to improve user comfort and performance. Experimental evidence demonstrates up to 15.3% increased comfort and 38% improved performance when using a self-aligning mechanism in a powered knee exoskeleton. Additionally, spurious forces and torques were reduced by up to 97% with the self-aligning mechanism unlocked.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2021)
Article
Engineering, Biomedical
Jongwoo Lee, Meghan E. Huber, Neville Hogan
Summary: This study investigates the neuro-mechanical dynamics and control of unimpaired human locomotion, and the possibility of using robots to aid in rehabilitation. The results show that robot-aided gait entrainment is more likely to occur when the periodic torque pulses are close to the preferred stride duration of the subjects. The intervention shows potential for rehabilitation by utilizing natural dynamics in an effective way.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Article
Automation & Control Systems
Brahim Brahmi, Tanvir Ahmed, Ibrahim El Bojairami, Asif Al Zubayer Swapnil, Md Assad-Uz-Zaman, Katie Schultz, Erin McGonigle, Mohammad Habibur Rahman
Summary: This article presents a novel robust control strategy based on variables transformation for nonlinear dynamic systems. The proposed control technique, which integrates differential flatness and geometrical transformation, is applied to a smart robotic exoskeleton for upper limb rehabilitation therapy. The control scheme ensures continuous enhanced trajectory tracking and robustness during rehabilitation exercises, and all signals are bounded using Lyapunov theory in the closed-loop form.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)
Article
Automation & Control Systems
Jianyu Chen, Jianda Han, Juanjuan Zhang
Summary: In this study, a mobile ankle exoskeleton that can provide plantarflexion torque assistance at the ankle was developed. The exoskeleton can switch between single- and dual-motor systems to adapt to different users and tasks. The single-motor system is lighter and more transparent, while the dual-motor system provides higher assistance.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2022)