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)
Article
Computer Science, Artificial Intelligence
Daegeun Park, Christian Di Natali, Matteo Sposito, Darwin G. Caldwell, Jesus Ortiz
Summary: Musculoskeletal Disorders associated with the elbow are common work-related injuries. Exoskeletons have been proposed as a solution, but they introduce discomfort due to joint misalignment. The Elbow-sideWINDER is a novel exoskeleton that minimizes discomfort, maximizes assistance, and enhances robustness and reliability in real worksites. The proposed control strategy effectively provides assistive torque using three control units.
FRONTIERS IN NEUROROBOTICS
(2023)
Article
Robotics
Francesco Lanotte, Zach McKinney, Lorenzo Grazi, Baojun Chen, Simona Crea, Nicola Vitiello
Summary: A novel controller utilizing an adaptive DMP for wearable robotic assistance of various lifting movements was developed. The method accurately predicted trajectory and synchronized robotic assistance to reduce muscular activation, while maintaining lower-limb joint kinematics and shortening extension time.
IEEE TRANSACTIONS ON ROBOTICS
(2021)
Article
Automation & Control Systems
Dongting Li, Emiliano Quinones Yumbla, Alyssa Olivas, Thomas Sugar, Heni Ben Amor, Hyunglae Lee, Wenlong Zhang, Daniel M. Aukes
Summary: This article introduces a wearable exo-shell device inspired by the human spine to improve the gait of elderly people during obstacle avoidance tasks. The device is designed with origami-inspired techniques and features a chain of lockable joints with a braking system. The article describes the kinematics and forces of the device, discusses the integration of various sensors, and characterizes the performance of the device.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2023)
Article
Engineering, Mechanical
Sandesh G. Bhat, Susheelkumar C. Subramanian, Thomas S. Sugar, Sangram Redkar
Summary: This study records lower extremity physiological parameters during normal walking gait and applies dynamical systems theory for stability analysis, validating the effectiveness of approximating kinematic and dynamical data patterns to periodic behavior and suggesting a reinitialization process for improved accuracy.
JOURNAL OF MECHANISMS AND ROBOTICS-TRANSACTIONS OF THE ASME
(2021)
Article
Multidisciplinary Sciences
Hiroshi Akima, Hisashi Maeda, Teruhiko Koike, Koji Ishida
Summary: This study compared the EMG-force relationships of the medial, lateral, and long heads of the triceps brachii at different elbow joint angles. The results showed that relatively smaller neuromuscular activation was required when the elbow joint angle was extended, but neuromuscular activation levels and relative force levels were matched in all three synergists when the elbow joint angle was at 90 degrees or a more flexed position.
Article
Engineering, Mechanical
Qingcong Wu, Ying Chen
Summary: This paper presents a soft elbow exoskeleton for the rehabilitation training of disabled patients. An adaptive cooperative control strategy is employed to promote active involvement and voluntary participation of patients, enhancing therapy outcome.
MECHANICAL SYSTEMS AND SIGNAL PROCESSING
(2023)
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
Engineering, Multidisciplinary
WeiCheng Huang, Miao Feng, DeZhi Yang, GuoYing Gu
Summary: Fabric-based pneumatic exosuits have the potential to assist and rehabilitate elbow impairments. However, existing exosuits often have mechanical resistance issues that limit their performance. In this study, we develop a fabric-based soft elbow exosuit with an adaptive mechanism and composite bellows to address these challenges. Experimental results show that the exosuit with the adaptive mechanism and composite bellows significantly reduces mechanical resistance and increases output torque, providing improved range of motion and comfortability.
SCIENCE CHINA-TECHNOLOGICAL SCIENCES
(2023)
Article
Computer Science, Artificial Intelligence
Ke Li, Zhengzhen Li, Haibin Zeng, Na Wei
Summary: This study demonstrated a newly-designed wearable robotic hand exoskeleton with multijoints, more degrees of freedom, and a larger range of motion, which could facilitate hand rehabilitation for a larger ROM and higher dexterity. The results showed that the support vector machine and K-near neighbor classifiers had a higher accuracy of up to 99% in offline classification, while three out of the five subjects achieved an accuracy of about 80% in online classification, with one subject reaching an accuracy over 90%.
FRONTIERS IN NEUROROBOTICS
(2021)
Article
Computer Science, Information Systems
Phillip H. Daniel, Chenglong Fu, H. Harry Asada
Summary: This study examines the musculoskeletal impacts of a wearable robotic device and proposes a design and control method based on a musculoskeletal model and experimental data. By analyzing the predicted effect of the device, human body movements, and muscular activity, and verifying the model through experiments, the study identifies the optimal control strategy and design parameters to minimize muscular load on the human body.
Article
Engineering, Biomedical
Handdeut Chang, Seulki Kyeong, Youngjin Na, Yeongjin Kim, Jung Kim
Summary: In the fields of robotics and rehabilitation engineering, surface electromyography (sEMG) signals have been extensively studied for muscle activation estimation and control inputs for robotic devices. However, the stochastic nature of sEMG results in a low signal-to-noise ratio (SNR), hindering its use as a stable and continuous control input. This study proposes a stochastic myoprocessor using a rescaling method to enhance the SNR of sEMG without the latency problem associated with traditional time-average filters.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2023)
Article
Neurosciences
Rui Xu, Xinyu Zhao, Ziyao Wang, Hengyu Zhang, Lin Meng, Dong Ming
Summary: This study proposes a FES control strategy based on sEMG and kinematic information for dynamic movement reproduction. The strategy achieves high accuracy and good performance through the use of a direct transfer function (DTF) and muscle synergy ratio to determine the pulse width (PW) of FES.
FRONTIERS IN NEUROSCIENCE
(2022)
Article
Physiology
Anna Sasa, Sirima Kulvanich, Naohito Hao, Reiko Ita, Masahiro Watanabe, Taku Suzuki, Jin Magara, Takanori Tsujimura, Makoto Inoue
Summary: This study investigated the role of the suprahyoid muscles during mastication and found that suprahyoid activity increased with tongue pressure. During mastication, the activity of the suprahyoid muscles was higher during soft rice cracker consumption compared to other foods, and the suprahyoid muscles played a dominant role in jaw-opening during peanut mastication.
FRONTIERS IN PHYSIOLOGY
(2022)
Article
Robotics
Jie Li, Jun He, Yan Xing, Feng Gao
Summary: This letter presents a control method for a planetary rover equipped with an active suspension system, which allows simultaneous control of terrain adaptation and wheel speed allocation, improving the performance and efficiency of the rover on uneven terrain.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Rehabilitation
Isabell Anna Just, Denis Fries, Sina Loewe, Volkmar Falk, Nikola Cesarovic, Dagmar Kemper, Frank Edelmann, Anna Feuerstein, Florian L. Haufe, Michele Xiloyannis, Robert Riener, Felix Schoenrath
Summary: The aim of this pilot study was to investigate the safety, feasibility and tolerability of using a lightweight, exoskeleton-type robot for assisted mobilization of patients with advanced pulmonary diseases. The study showed that robotic-assisted mobilization was feasible, safe and well-tolerated in all patients. Patients expressed interest in participating in regular robotic-assisted training.
ASSISTIVE TECHNOLOGY
(2023)
Article
Robotics
Michele Xiloyannis, Ryan Alicea, Anna-Maria Georgarakis, Florian Leander Haufe, Peter Wolf, Lorenzo Masia, Robert Riener
Summary: Wearable robots have evolved from rigid machines to lightweight robotic apparel, playing a crucial role in human motor assistance and augmentation. Critically evaluating the modes of actuation, human-robot interface, and intention-detection strategies of state-of-the-art soft robotic suits, this technology has the potential to significantly impact human movements and requires further development in various areas.
IEEE TRANSACTIONS ON ROBOTICS
(2022)
Article
Engineering, Biomedical
Lauren Chee, Giacomo Valle, Michele Marazzi, Greta Preatoni, Florian L. Haufe, Michele Xiloyannis, Robert Riener, Stanisa Raspopovic
Summary: This study presents a non-invasive neurostimulation system that can encode foot-ground and knee angle information, leading to decreased metabolic consumption and increased prosthesis confidence in lower-limb amputees. The system also promotes more physiological walking strategies and increased stability in response to external perturbations.
JOURNAL OF NEURAL ENGINEERING
(2022)
Article
Chemistry, Analytical
Elisa Galofaro, Erika D'Antonio, Nicola Lotti, Lorenzo Masia
Summary: This study presents an experimental setup that uses Neuromuscular Electrical Stimulation (NMES) to enhance the virtual reality experience by providing haptic feedback. The results of the experiment show significant differences in metabolic consumption and user fatigue perception between the conditions with electrical stimulation and real weight compared to the condition without any load.
Article
Robotics
Xiaohui Zhang, Enrica Tricomi, Francesco Missiroli, Nicola Lotti, Casimir Bokranz, Daniela Nicklas, Lorenzo Masia
Summary: This paper presents a novel approach to improve the assistance provided by wearable devices by implementing a layered controller for synchronizing the robot with human motion. Preliminary results show that this method can enhance performance and reduce metabolic rates during walking.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Editorial Material
Automation & Control Systems
Francesco Missiroli
Summary: Transitioning from university to a company is always challenging, as it involves deciding whether to pursue a specific field of study or start a business based on personal developed ideas or technologies.
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Editorial Material
Automation & Control Systems
Francesco Missiroli
IEEE ROBOTICS & AUTOMATION MAGAZINE
(2023)
Article
Computer Science, Cybernetics
Elisa Galofaro, Erika D'Antonio, Nicola Lotti, Fabrizio Patane, Maura Casadio, Lorenzo Masia
Summary: This study investigates the dynamic interaction between hands during bimanual object manipulation using two impedance-controlled exoskeletons. The results show differences in force asymmetries and timing between right-handers and left-handers, which are influenced by handedness preference and object design.
IEEE TRANSACTIONS ON HAPTICS
(2023)
Article
Computer Science, Cybernetics
Tommaso Bagneschi, Domenico Chiaradia, Gabriele Righi, Giulio Del Popolo, Antonio Frisoli, Daniele Leonardis
Summary: We propose a new soft exoskeleton that actively supports hand closure and opening by using a unique tendon routing system. The design enhances stability, reduces slippage and detachment, and provides comfortable clenching effect. Additionally, the use of a single actuator and modular design improves adaptability to different hand sizes. Experimental evaluations have demonstrated positive results in terms of stability, deformation, inter-finger compliance, and grasping force. Initial evaluations with Spinal Cord Injury patients have provided valuable insights into the device's strengths and limitations in real-life scenarios.
IEEE TRANSACTIONS ON HAPTICS
(2023)
Article
Robotics
Enrica Tricomi, Mirko Mossini, Francesco Missiroli, Nicola Lotti, Xiaohui Zhang, Michele Xiloyannis, Loris Roveda, Lorenzo Masia
Summary: In this study, a hip exosuit controller was developed to classify different walking terrains using an RGB camera and modulate assistance accordingly. The results showed that the controller was able to accurately classify the path in front of the user in real-time and provide appropriate assistance. The use of computer vision significantly improved metabolic savings compared to when the exosuit was disabled or when vision was turned off. These advancements have important implications for the utilization of lightweight walking assistive technologies in real-life scenarios.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2023)
Article
Biotechnology & Applied Microbiology
Daniele Borzelli, Sergio Gurgone, Paolo De Pasquale, Nicola Lotti, Andrea d'Avella, Laura Gastaldi
Summary: This study compared the EMG-to-force mapping estimation performed with standard multiple linear regression and three other algorithms. The results showed that linear regression with anatomical constraints was the best solution.
BIOENGINEERING-BASEL
(2023)
Article
Engineering, Biomedical
Greta Vazzoler, Pietro Bilancia, Giovanni Berselli, Marco Fontana, Antonio Frisoli
Summary: This article presents an analysis and preliminary design of a passive, wearable upper limb exoskeleton that aims to support workers in various repetitive tasks in industrial environments, thus effectively reducing the risk of injuries on production lines. The exoskeleton's main objective is to compensate for the gravity loads on the human upper limb, achieved through passive elastic elements to minimize weight and cost. The authors developed a detailed analytical tool to aid the designer in the preliminary design stage, investigating the exoskeleton's kinetic-static behavior and deriving optimal design parameters for the springs over the human arm workspace. Computational optimization studies can then be carried out to determine the optimal coefficients and positions of the springs, maximizing gravity balancing accuracy. Two different arrangements of the elastic elements were investigated and validated using a commercial multi-body tool for relevant arm movements of the user.
IEEE TRANSACTIONS ON MEDICAL ROBOTICS AND BIONICS
(2022)
Proceedings Paper
Computer Science, Cybernetics
Cristian Camardella, Massimiliano Gabardi, Antonio Frisoli, Daniele Leonardis
Summary: Wearable haptics is essential for the usability and user engagement of modern immersive virtual reality systems in rehabilitation serious games.
HAPTICS: SCIENCE, TECHNOLOGY, APPLICATIONS, EUROHAPTICS 2022
(2022)