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
Computer Science, Information Systems
Ge Lv, Jianping Lin, Robert D. Gregg
Summary: The paper introduces a new approach for motion control of exoskeletons, aiming to address limitations of traditional methods and achieve more natural movements. Through a matching framework with human and environment interaction, task-invariant, energetic assistance is provided while ensuring positive definiteness of the mass matrix in the closed loop to avoid danger to human users.
Review
Computer Science, Information Systems
Wen-Zhou Li, Guang-Zhong Cao, Ai-Bin Zhu
Summary: Current research on lower limb exoskeleton (LLE) for rehabilitation aims to meet the needs of individuals with neurologic injuries. Control strategies face challenges in detecting human intention, implementing motion control, and optimizing parameters for different users. Future control strategies should maximize the performance of rehabilitation LLEs.
Article
Chemistry, Analytical
Long Zhang, Guangkui Song, Chaobin Zou, Rui Huang, Hong Cheng, Dekun Hu
Summary: This paper proposes an optimized knee trajectory modulation method to reduce foot-ground impacts. Additionally, a hip trajectory modulation method is presented to compensate for torso pitch deflections caused by the knee trajectory modulation. Unlike traditional mechanical methods, the proposed approach does not require bulky mechanical structures and can adaptively adjust parameters.
Review
Chemistry, Analytical
Slavka Net'ukova, Martin Bejtic, Christiane Mala, Lucie Horakova, Patrik Kutilek, Jan Kauler, Radim Krupicka
Summary: This article introduces the important criteria for sensors used in exoskeletons and the usage of various sensor types. It outlines the possibilities and limitations of special medical signal sensors and suggests potential directions for future exoskeleton developments.
Article
Automation & Control Systems
Zhijun Li, Kuankuan Zhao, Longbin Zhang, Xinyu Wu, Tao Zhang, Qinjian Li, Xiang Li, Chun-Yi Su
Summary: This article proposes a novel human-in-the-loop control framework for a fully actuated lower limb exoskeleton, allowing users to walk without external stabilization tools. The control strategy is designed to imitate the natural lower limb motion of users through barrier energy function and regional functions. The proposed strategy controls the exoskeleton to follow appropriate ergonomic trajectories using an adaptive controller considering human effort and robot capabilities.
IEEE-ASME TRANSACTIONS ON MECHATRONICS
(2021)
Article
Computer Science, Information Systems
Qiaolian Xie, Qiaoling Meng, Qingxin Zeng, Yuanjie Fan, Yue Dai, Hongliu Yu
Summary: The purpose of this study is to establish the human-exoskeleton coupling dynamic model of the upper limb exoskeleton and propose a dynamic parameter identification method suitable for patient training. The results show that the model has good prediction accuracy in both PAT and PPT modes, which helps provide different training effects and optimal assistance for stroke patients.
Article
Robotics
Roberto Leo Medrano, Gray Cortright Thomas, Elliott J. Rouse, Robert D. Gregg
Summary: This study investigates the feasibility of using Bayesian state estimation to detect and adapt to changing walking conditions in exoskeletons. Through theoretical simulations, the study evaluates different Bayesian filter assumptions and sensor configurations and concludes that the assumptions of the Extended Kalman Filter are well suited for accurately estimating gait parameters in exoskeletons.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Article
Robotics
Sophia Otalora, Felipe Ballen-Moreno, Luis Arciniegas-Mayag, Marcela Munera, Carlos A. Cifuentes
Summary: This study presents the design of the AGoRA V2 unilateral lower-limb exoskeleton and evaluates its effects on gait parameters in ten subjects. The results demonstrate that the exoskeleton significantly reduces muscle activity and provides effective assistance for ankle and shoulder muscles.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2022)
Review
Engineering, Biomedical
Rachel L. Hybart, Daniel P. Ferris
Summary: Research on embodiment of external objects has provided important information about the interaction between the human nervous system and robotic lower limb exoskeletons. Current approaches to exoskeleton control should consider the principles of embodiment, suggesting that the controller should coordinate with the human to adequately model its dynamics. Quantitative measures of embodiment should be included in exoskeleton development instead of relying on qualitative surveys, with mobile brain imaging techniques offering a deeper insight into human-machine interactions. This review highlights the importance of including quantitative measures of embodiment in future exoskeleton research as a metric of success.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(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
Cristian Camardella, Francesco Porcini, Alessandro Filippeschi, Simone Marcheschi, Massimiliano Solazzi, Antonio Frisoli
Summary: A major challenge in exoskeleton design and control is to maintain user's natural behavior without interaction forces. Transparency of the exoskeleton, which follows user's movements without forces, is crucial. The proposed control algorithm in this study blends two dynamic models smoothly based on gait phase, resulting in reduced interaction forces and longer stride length.
IEEE ROBOTICS AND AUTOMATION LETTERS
(2021)
Article
Automation & Control Systems
Du-Xin Liu, Jing Xu, Chunjie Chen, Xingguo Long, Dacheng Tao, Xinyu Wu
Summary: In this article, a vision-assisted autonomous lower-limb exoskeleton robot (VALOR) is developed to improve adaptability to complex walking environments. Through environmental information acquisition and autonomous decision-making, the robot can significantly enhance its adaptability. The feasibility of the proposed method is verified in a controlled indoor environment.
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
(2021)
Article
Mechanics
Stefano L. Capitani, Matteo Bianchi, Nicola Secciani, Marco Pagliai, Enrico Meli, Alessandro Ridolfi
Summary: Despite the current industrial trend towards automation, many workers in the construction industry are still exposed to heavy loads, requiring the design of a passive robotic human assistance tool to improve job quality.
Article
Engineering, Biomedical
Yao Tu, Aibin Zhu, Jiyuan Song, Xiaodong Zhang, Guangzhong Cao
Summary: This paper presents a novel semi-passive lower-limb exoskeleton E-LEG for worker squatting assistance, with motorized tuning of the assistive squatting height, and reports systematic experimental evaluation showing potential effectiveness in reducing muscular strain during long-term continuous squatting activities.
IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING
(2022)
Article
Toxicology
Slawomir Majdanik, Barbara Potocka-Banas, Sebastian Glowinski, Krzysztof Borowiak
Summary: The paper reports a rare case of iron intoxication caused by a suicide in an adult woman who ingested a solution of iron (III) chloride. Autopsy revealed yellow discoloration and thrombotic necrosis of the oral mucosa and gastrointestinal tract, with high levels of iron and chloride ions detected in internal organs. Histopathological analysis confirmed the presence of iron in tissues, especially in the intestines and liver, leading to the conclusion that the woman's death was caused by iron chloride ingestion.
FORENSIC TOXICOLOGY
(2021)
Article
Multidisciplinary Sciences
Sebastian Glowinski, Aleksandra Bryndal, Agnieszka Grochulska
Summary: The study found that physiotherapists have a high prevalence of spinal pain, with kinesitherapists having the highest incidence. Most physiotherapists reported experiencing one to five episodes of pain in their careers, with the main pain locations being the lumbosacral spine and the cervical spine.
Article
Multidisciplinary Sciences
Maciej Obst, Piotr Wasilewicz, Jaroslaw Adamiec
Summary: The paper presents an experimental study on the global and local buckling phenomena of cold formed C-channel steel beams under four-point bending loads. The results show that it is not possible to completely eliminate the torque load on a thin-walled beam with an open section where load and support are applied in the shear center. The study also highlights the sensitivity of thin-walled beams to boundary conditions and geometrical accuracy, as well as the effect of gravity.
SCIENTIFIC REPORTS
(2022)
Article
Health Care Sciences & Services
Aleksandra Bryndal, Sebastian Glowinski, Marian Majchrzycki
Summary: Pregnancy is a risk factor for back pain during pregnancy, but one year or more after pregnancy, the occurrence of back pain is similar to that in women who have never been pregnant.
JOURNAL OF PERSONALIZED MEDICINE
(2022)
Article
Chemistry, Analytical
Sebastian Glowinski, Sebastian Pecolt, Andrzej Blazejewski, Bartlomiej Mlynski
Summary: This study evaluated the analysis of bioelectric signals obtained from electromyographic sensors to control the speed and direction of a brushless DC motor. The system successfully controlled the rotation speed and direction of the drive unit using muscle signals, with a delay of about 0.5 seconds. The designed system is scalable and adjustable, applicable for rehabilitation, exoskeletons, and prostheses.
Article
Medicine, General & Internal
Aleksandra Bryndal, Sebastian Glowinski, Agnieszka Grochulska
Summary: Being overweight has a strong impact on heart rate variables before and after cardiac rehabilitation, while smokers tend to have higher scores on the 6 minute walk test. Diabetic patients tend to have higher MET values. Hyperlipidaemia is associated with higher heart rate values, while hypertension is linked to lower exercise tolerance.
JOURNAL OF CLINICAL MEDICINE
(2022)
Article
Medicine, General & Internal
Aleksandra Bryndal, Sebastian Glowinski, Agnieszka Grochulska
Summary: This study aimed to determine the impact of medical occupation (physiotherapist and nurse) on the prevalence, functional status, and degree of disability of spinal pain. Nurses were found to be more prone to spinal pain compared to physiotherapists, and they experienced higher levels of pain and disability.
JOURNAL OF CLINICAL MEDICINE
(2022)
Article
Toxicology
Slawomir Majdanik, Barbara Potocka-Banas, Sebastian Glowinski, Sylwester Luzny
Summary: The paper presents a case of suicidal poisoning with mercury chloride, where the patient showed various symptoms and the concentration of mercury was lethal. The conclusion is that mercuric chloride can cause corrosive injury, severe gastrointestinal disturbances, acute renal failure, circulatory collapse, and even death.
FORENSIC TOXICOLOGY
(2023)
Article
Computer Science, Information Systems
Sebastian Glowinski, Sebastian Pecolt, Andrzej Blazejewski, Michal Sobieraj
Summary: The aim of this study was to design and program a low-cost universal multichannel measurement card from scratch. The constructed device has analog inputs that can be used as differential inputs, allowing for the measurement of analog signals from most sensors. The measurement module developed in this project has high measurement parameters comparable to commercial products, but with a very low production cost. The proposed solution is several times cheaper than commercial solutions while maintaining comparable parameters, as concluded in the study.
Article
Neurosciences
Ewelina Czuba-Pakula, Sebastian Glowinski, Slawomir Wojcik, Grazyna Lietzau, Magdalena Zabielska-Kaczorowska, Przemyslaw Kowianski
Summary: The study aimed to determine the extent of damage to the blood-brain barrier caused by hypercholesterolemia and the distribution of specific markers in the vascular wall. Immunohistochemical staining and confocal microscopy were used for protein assessment. It was found that the permeability of the blood-brain barrier in hypercholesterolemia depends on animal age, duration of the condition, and brain region.
MOLECULAR AND CELLULAR NEUROSCIENCE
(2023)
Article
Medicine, Legal
Sebastian Glowinski, Slawomir Majdanik, Barbara Potocka-Banas
Summary: Airguns with energy below 17 J are not considered weapons in Poland and can be purchased without permission or registration. However, improper use of these airguns can result in serious injuries and death.
EGYPTIAN JOURNAL OF FORENSIC SCIENCES
(2023)
Article
Medicine, General & Internal
Aleksandra Bryndal, Sebastian Glowinski, Kazimiera Hebel, Julia Grochulska, Agnieszka Grochulska
Summary: The aim of this study was to assess the incidence and risk factors of back pain among paramedics and its correlation with work nature, anthropometric features, and recreational physical activity level. The study found that back pain is common among paramedics, with a higher incidence in the lower back region.
JOURNAL OF CLINICAL MEDICINE
(2023)
Article
Biophysics
Sebastian Glowinski, Mariusz Ptak
Summary: This study proposed a computer and mathematical model based on anthropometric data for analyzing the kinematics of a human leg pneumatic exoskeleton. By using Inertial Measurement Units to calculate joint angles during walking and running, the position and velocity of exoskeleton actuators were determined with the MATLAB software. The developed mathematical model allows for calculating the position of lower limb segments and exoskeleton elements.
ACTA OF BIOENGINEERING AND BIOMECHANICS
(2021)
