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Bessler-Etten J, Schaake L, Buurke JH, Prange-Lasonder GB. Investigating change of discomfort during repetitive force exertion though an exoskeleton cuff. APPLIED ERGONOMICS 2024; 115:104055. [PMID: 37984083 DOI: 10.1016/j.apergo.2023.104055] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 10/03/2022] [Revised: 05/17/2023] [Accepted: 05/26/2023] [Indexed: 11/22/2023]
Abstract
This article investigates discomfort development for forces exerted repetitively and for extended durations through a rigid cuff. Three force patterns, chosen to mimic exoskeleton use, were applied to the thigh of 15 healthy participants for 30 min. Changes in perceived comfort and skin effects were recorded. Discomfort was detected at normal forces ranging from 40 to >230 N. Repetitive force application triggered discomfort after a median of 4.1 min (normal force only) and 5.4 min (normal and shear force) respectively. Discomfort increased over time but the repetitive force applications did generally not result in pain and there were no significant differences between repetitive loading patterns. Exoskeleton design and use should be informed by comfort thresholds specific to prolonged repetitive loading. Large interindividual differences in perception of discomfort limit the possibilities for generally applicable comfort thresholds. Further research is needed to investigate how patient groups perceive such repetitive loading.
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Affiliation(s)
- Jule Bessler-Etten
- Roessingh Research and Development, Enschede, the Netherlands; Department of Biomedical Signals and Systems, University of Twente, Enschede, the Netherlands.
| | | | - Jaap H Buurke
- Roessingh Research and Development, Enschede, the Netherlands; Department of Biomedical Signals and Systems, University of Twente, Enschede, the Netherlands
| | - Gerdienke B Prange-Lasonder
- Roessingh Research and Development, Enschede, the Netherlands; Department of Biomechanical Engineering, University of Twente, Enschede, the Netherlands
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2
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Yang Y, Lai J, Xu C, He Z, Jiao P, Ren H. Lightweight Pneumatically Elastic Backbone Structure with Modular Construction and Nonlinear Interaction for Soft Actuators. Soft Robot 2024; 11:57-69. [PMID: 37624648 DOI: 10.1089/soro.2021.0179] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 08/27/2023] Open
Abstract
There has been a growing need for soft robots operating various force-sensitive tasks due to their environmental adaptability, satisfactory controllability, and nonlinear mobility unique from rigid robots. It is of desire to further study the system instability and strongly nonlinear interaction phenomenon that are the main influence factors to the actuations of lightweight soft actuators. In this study, we present a design principle on lightweight pneumatically elastic backbone structure (PEBS) with the modular construction for soft actuators, which contains a backbone printed as one piece and a common strip balloon. We build a prototype of a lightweight (<80 g) soft actuator, which can perform bending motions with satisfactory output forces (∼20 times self-weight). Experiments are conducted on the bending effects generated by interactions between the hyperelastic inner balloon and the elastic backbone. We investigated the nonlinear interaction and system instability experimentally, numerically, and parametrically. To overcome them, we further derived a theoretical nonlinear model and a numerical model. Satisfactory agreements are obtained between the numerical, theoretical, and experimental results. The accuracy of the numerical model is fully validated. Parametric studies are conducted on the backbone geometry and stiffness, balloon stiffness, thickness, and diameter. The accurate controllability, operation safety, modularization ability, and collaborative ability of the PEBS are validated by designing PEBS into a soft laryngoscope, a modularized PEBS library for a robotic arm, and a PEBS system that can operate remote surgery. The reported work provides a further applicability potential of soft robotics studies.
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Affiliation(s)
- Yang Yang
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Department of Biomedical Engineering (BME), National University of Singapore, Singapore, Singapore
- Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
| | - Jiewen Lai
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China
| | - Chaochao Xu
- Department of Biomedical Engineering (BME), National University of Singapore, Singapore, Singapore
- Research Institute, National University of Singapore (Suzhou), Suzhou, Jiangsu, China
| | - Zhiguo He
- Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
| | - Pengcheng Jiao
- Institute of Port, Coastal and Offshore Engineering, Ocean College, Zhejiang University, Zhoushan, Zhejiang, China
| | - Hongliang Ren
- Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China
- Department of Biomedical Engineering (BME), National University of Singapore, Singapore, Singapore
- Research Institute, National University of Singapore (Suzhou), Suzhou, Jiangsu, China
- Shun Hing Institute of Advanced Engineering, The Chinese University of Hong Kong (CUHK), Hong Kong, Hong Kong, China
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3
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Skogberg O, Karlsson L, Bäckryd E, Lemming D. Tonic cuff pressure pain sensitivity in chronic pain patients and its relation to self-reported physical activity. Scand J Pain 2024; 24:sjpain-2023-0033. [PMID: 38095182 DOI: 10.1515/sjpain-2023-0033] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/16/2023] [Accepted: 11/09/2023] [Indexed: 12/22/2023]
Abstract
OBJECTIVES Physical inactivity is a global health concern and a significant problem among chronic pain patients. They often experience pain flare-ups when they try to increase their physical activity level. Most research on the relationship between pain sensitivity and physical activity has been on healthy participants. Data on chronic pain patients are lacking. Using cuff pressure algometry, this study investigated tonic cuff pressure pain sensitivity and its associations to self-reported physical activity and other patient-reported outcomes in chronic pain patients. METHODS Chronic pain patients (n=78) were compared to healthy controls (n=98). Multivariate data analysis was used to investigate the associations between tonic cuff pressure pain sensitivity, physical activity, and other patient-reported outcome measures. RESULTS The three most important variables for group discrimination were perceived health status (EQVAS: p(corr)=-0.85, i.e., lower in patients), depression (HADS-D: p(corr)=0.81, i.e., higher in patients), and the tonic cuff pressure pain sensitivity variable maximum pain intensity (VAS-peak-arm: p(corr)=0.75, i.e., higher in patients). In patients, the most important predictors for high VAS-peak-arm were female sex (p(corr)=-0.75), higher number of painful regions (p(corr)=0.72), higher pain intensity (p(corr)=0.55), followed by lower level of self-reported physical activity (p(corr)=-0.39). VAS-peak-arm in patients correlated negatively with self-reported physical activity (rho=-0.28, p=0.018). CONCLUSIONS Physical activity may be the most important patient-changeable variable correlating to pain sensitivity. This study highlights the importance of more research to further understand how increased physical activity may decrease pain sensitivity in chronic pain patients.
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Affiliation(s)
- Olof Skogberg
- Pain and Rehabilitation Center, and Department of Health, Medicine and Caring Sciences, Linköping University, Linköping, Sweden
| | - Linn Karlsson
- Pain and Rehabilitation Center, and Department of Health, Medicine and Caring Sciences, Linköping University, Linköping, Sweden
| | - Emmanuel Bäckryd
- Pain and Rehabilitation Center, and Department of Health, Medicine and Caring Sciences, Linköping University, Linköping, Sweden
| | - Dag Lemming
- Pain and Rehabilitation Center, and Department of Health, Medicine and Caring Sciences, Linköping University, Linköping, Sweden
- Maritime and Civil Aviation Department, Swedish Transport Agency, Norrköping, Sweden
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Andrade RL, Figueiredo J, Fonseca P, Vilas-Boas JP, Silva MT, Santos CP. Human-Robot Joint Misalignment, Physical Interaction, and Gait Kinematic Assessment in Ankle-Foot Orthoses. SENSORS (BASEL, SWITZERLAND) 2023; 24:246. [PMID: 38203110 PMCID: PMC10781370 DOI: 10.3390/s24010246] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 12/11/2023] [Revised: 12/24/2023] [Accepted: 12/26/2023] [Indexed: 01/12/2024]
Abstract
Lower limb exoskeletons and orthoses have been increasingly used to assist the user during gait rehabilitation through torque transmission and motor stability. However, the physical human-robot interface (HRi) has not been properly addressed. Current orthoses lead to spurious forces at the HRi that cause adverse effects and high abandonment rates. This study aims to assess and compare, in a holistic approach, human-robot joint misalignment and gait kinematics in three fixation designs of ankle-foot orthoses (AFOs). These are AFOs with a frontal shin guard (F-AFO), lateral shin guard (L-AFO), and the ankle modulus of the H2 exoskeleton (H2-AFO). An experimental protocol was implemented to assess misalignment, fixation displacement, pressure interactions, user-perceived comfort, and gait kinematics during walking with the three AFOs. The F-AFO showed reduced vertical misalignment (peak of 1.37 ± 0.90 cm, p-value < 0.05), interactions (median pressures of 0.39-3.12 kPa), and higher user-perceived comfort (p-value < 0.05) when compared to H2-AFO (peak misalignment of 2.95 ± 0.64 and pressures ranging from 3.19 to 19.78 kPa). F-AFO also improves the L-AFO in pressure (median pressures ranging from 8.64 to 10.83 kPa) and comfort (p-value < 0.05). All AFOs significantly modified hip joint angle regarding control gait (p-value < 0.01), while the H2-AFO also affected knee joint angle (p-value < 0.01) and gait spatiotemporal parameters (p-value < 0.05). Overall, findings indicate that an AFO with a frontal shin guard and a sports shoe is effective at reducing misalignment and pressure at the HRI, increasing comfort with slight changes in gait kinematics.
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Affiliation(s)
- Ricardo Luís Andrade
- Center for MicroElectroMechanical Systems (CMEMS), University of Minho, 4800-058 Guimarães, Portugal
| | - Joana Figueiredo
- Center for MicroElectroMechanical Systems (CMEMS), University of Minho, 4800-058 Guimarães, Portugal
- LABBELS—Associate Laboratory, 4710-057 Braga/4800-058 Guimarães, Portugal
| | - Pedro Fonseca
- Porto Biomechanics Laboratory (LABIOMEP), University of Porto, 4200-450 Porto, Portugal; (P.F.); (J.P.V.-B.)
| | - João P. Vilas-Boas
- Porto Biomechanics Laboratory (LABIOMEP), University of Porto, 4200-450 Porto, Portugal; (P.F.); (J.P.V.-B.)
- Centre of Research, Education, Innovation and Intervention in Sport (CIFI2D), Faculty of Sport, University of Porto, 4200-450 Porto, Portugal
| | - Miguel T. Silva
- IDMEC, Instituto Superior Técnico, Universidade de Lisboa, Av. Rovisco Pais 1, 1049-001 Lisbon, Portugal;
| | - Cristina P. Santos
- Center for MicroElectroMechanical Systems (CMEMS), University of Minho, 4800-058 Guimarães, Portugal
- LABBELS—Associate Laboratory, 4710-057 Braga/4800-058 Guimarães, Portugal
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Li-Baboud YS, Virts A, Bostelman R, Yoon S, Rahman A, Rhode L, Ahmed N, Shah M. Evaluation Methods and Measurement Challenges for Industrial Exoskeletons. SENSORS (BASEL, SWITZERLAND) 2023; 23:5604. [PMID: 37420770 DOI: 10.3390/s23125604] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 03/20/2023] [Revised: 05/15/2023] [Accepted: 05/22/2023] [Indexed: 07/09/2023]
Abstract
In recent years, exoskeleton test methods for industrial exoskeletons have evolved to include simulated laboratory and field environments. Physiological, kinematic, and kinetic metrics, as well as subjective surveys, are used to evaluate exoskeleton usability. In particular, exoskeleton fit and usability can also impact the safety of exoskeletons and their effectiveness at reducing musculoskeletal injuries. This paper surveys the state of the art in measurement methods applied to exoskeleton evaluation. A notional classification of the metrics based on exoskeleton fit, task efficiency, comfort, mobility, and balance is proposed. In addition, the paper describes the test and measurement methods used in supporting the development of exoskeleton and exosuit evaluation methods to assess their fit, usability, and effectiveness in industrial tasks such as peg in hole, load align, and applied force. Finally, the paper includes a discussion of how the metrics can be applied towards a systematic evaluation of industrial exoskeletons, current measurement challenges, and future research directions.
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Affiliation(s)
- Ya-Shian Li-Baboud
- National Institute of Standards and Technology, Gaithersburg, MD 20899, USA
| | - Ann Virts
- National Institute of Standards and Technology, Gaithersburg, MD 20899, USA
| | - Roger Bostelman
- National Institute of Standards and Technology, Gaithersburg, MD 20899, USA
- Smart HLPR LLC, Troutman, NC 28166, USA
| | - Soocheol Yoon
- National Institute of Standards and Technology, Gaithersburg, MD 20899, USA
- Institute for Soft Matter, Georgetown University, Washington, DC 20057, USA
| | - Amaan Rahman
- Department of Electrical Engineering, Albert Nerken School of Engineering, The Cooper Union for the Advancement of Science and Art, New York, NY 10003, USA
| | - Lucia Rhode
- Department of Electrical Engineering, Albert Nerken School of Engineering, The Cooper Union for the Advancement of Science and Art, New York, NY 10003, USA
| | - Nishat Ahmed
- Department of Electrical Engineering, Albert Nerken School of Engineering, The Cooper Union for the Advancement of Science and Art, New York, NY 10003, USA
| | - Mili Shah
- National Institute of Standards and Technology, Gaithersburg, MD 20899, USA
- Department of Mathematics, Albert Nerken School of Engineering, The Cooper Union for the Advancement of Science and Art, New York, NY 10003, USA
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6
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Verdel D, Sahm G, Bruneau O, Berret B, Vignais N. A Trade-Off between Complexity and Interaction Quality for Upper Limb Exoskeleton Interfaces. SENSORS (BASEL, SWITZERLAND) 2023; 23:4122. [PMID: 37112463 PMCID: PMC10142870 DOI: 10.3390/s23084122] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/29/2023] [Revised: 04/14/2023] [Accepted: 04/18/2023] [Indexed: 06/19/2023]
Abstract
Exoskeletons are among the most promising devices dedicated to assisting human movement during reeducation protocols and preventing musculoskeletal disorders at work. However, their potential is currently limited, partially because of a fundamental contradiction impacting their design. Indeed, increasing the interaction quality often requires the inclusion of passive degrees of freedom in the design of human-exoskeleton interfaces, which increases the exoskeleton's inertia and complexity. Thus, its control also becomes more complex, and unwanted interaction efforts can become important. In the present paper, we investigate the influence of two passive rotations in the forearm interface on sagittal plane reaching movements while keeping the arm interface unchanged (i.e., without passive degrees of freedom). Such a proposal represents a possible compromise between conflicting design constraints. The in-depth investigations carried out here in terms of interaction efforts, kinematics, electromyographic signals, and subjective feedback of participants all underscored the benefits of such a design. Therefore, the proposed compromise appears to be suitable for rehabilitation sessions, specific tasks at work, and future investigations into human movement using exoskeletons.
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Affiliation(s)
- Dorian Verdel
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
- LURPA, ENS Paris-Saclay, Université Paris-Saclay, 91190 Gif-sur-Yvette, France
| | - Guillaume Sahm
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
| | - Olivier Bruneau
- LURPA, ENS Paris-Saclay, Université Paris-Saclay, 91190 Gif-sur-Yvette, France
| | - Bastien Berret
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
| | - Nicolas Vignais
- Université Paris-Saclay, CIAMS, 91405 Orsay, France
- CIAMS, Université d’Orléans, 45100 Orléans, France
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Marocolo M, Hohl R, Arriel RA, Mota GR. Ischemic preconditioning and exercise performance: are the psychophysiological responses underestimated? Eur J Appl Physiol 2023; 123:683-693. [PMID: 36478078 DOI: 10.1007/s00421-022-05109-9] [Citation(s) in RCA: 3] [Impact Index Per Article: 3.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/17/2022] [Accepted: 11/28/2022] [Indexed: 12/12/2022]
Abstract
The findings of the ischemic preconditioning (IPC) on exercise performance are mixed regarding types of exercise, protocols and participants' training status. Additionally, studies comparing IPC with sham (i.e., low-pressure cuff) and/or control (i.e., no cuff) interventions are contentious. While studies comparing IPC versus a control group generally show an IPC significant effect on performance, sham interventions show the same performance improvement. Thus, the controversy over IPC ergogenic effect may be due to limited discussion on the psychophysiological mechanisms underlying cuff maneuvers. Psychophysiology is the study of the interrelationships between mind, body and behavior, and mental processes are the result of the architecture of the nervous system and voluntary exercise is a behavior controlled by the central command modulated by sensory inputs. Therefore, this narrative review aims to associate potential IPC-induced positive effects on performance with sensorimotor pathways (e.g., sham influencing bidirectional body-brain integration), hemodynamic and metabolic changes (i.e., blood flow occlusion reperfusion cycles). Overall, IPC and sham-induced mechanisms on exercise performance may be due to a bidirectional body-brain integration of muscle sensory feedback to the central command resulting in delayed time to exhaustion, alterations on perceptions and behavior. Additionally, hemodynamic responses and higher muscle oxygen extraction may justify the benefits of IPC on muscle contractile function.
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Affiliation(s)
- Moacir Marocolo
- Department of Physiology, Federal University of Juiz de Fora, Juiz de Fora, Minas Gerais, Brazil.
| | - Rodrigo Hohl
- Department of Physiology, Federal University of Juiz de Fora, Juiz de Fora, Minas Gerais, Brazil
| | - Rhaí André Arriel
- Department of Physiology, Federal University of Juiz de Fora, Juiz de Fora, Minas Gerais, Brazil
| | - Gustavo R Mota
- Exercise Science, Health and Human Performance Research Group, Department of Sport Sciences, Institute of Health Sciences, Federal University of Triângulo Mineiro, Uberaba, Minas Gerais, Brazil
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Nam Y, Yang S, Kim J, Koo B, Song S, Kim Y. Quantification of Comfort for the Development of Binding Parts in a Standing Rehabilitation Robot. SENSORS (BASEL, SWITZERLAND) 2023; 23:2206. [PMID: 36850804 PMCID: PMC9967481 DOI: 10.3390/s23042206] [Citation(s) in RCA: 1] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 01/25/2023] [Revised: 02/08/2023] [Accepted: 02/13/2023] [Indexed: 06/18/2023]
Abstract
Human-machine interfaces (HMI) refer to the physical interaction between a user and rehabilitation robots. A persisting excessive load leads to soft tissue damage, such as pressure ulcers. Therefore, it is necessary to define a comfortable binding part for a rehabilitation robot with the subject in a standing posture. The purpose of this study was to quantify the comfort at the binding parts of the standing rehabilitation robot. In Experiment 1, cuff pressures of 10-40 kPa were applied to the thigh, shank, and knee of standing subjects, and the interface pressure and pain scale were obtained. In Experiment 2, cuff pressures of 10-20 kPa were applied to the thigh, and the tissue oxygen saturation and the skin temperature were measured. Questionnaire responses regarding comfort during compression were obtained from the subjects using the visual analog scale and the Likert scale. The greatest pain was perceived in the thigh. The musculoskeletal configuration affected the pressure distribution. The interface pressure distribution by the binding part showed higher pressure at the intermuscular septum. Tissue oxygen saturation (StO2) increased to 111.9 ± 6.7% when a cuff pressure of 10 kPa was applied and decreased to 92.2 ± 16.9% for a cuff pressure of 20 kPa. A skin temperature variation greater than 0.2 °C occurred in the compressed leg. These findings would help evaluate and improve the comfort of rehabilitation robots.
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Affiliation(s)
- Yejin Nam
- Department of Biomedical Engineering, Yonsei University, Wonju 26493, Republic of Korea
| | - Sumin Yang
- Department of Biomedical Engineering, Yonsei University, Wonju 26493, Republic of Korea
| | - Jongman Kim
- Department of Biomedical Engineering, Yonsei University, Wonju 26493, Republic of Korea
| | - Bummo Koo
- Department of Biomedical Engineering, Yonsei University, Wonju 26493, Republic of Korea
| | - Sunghyuk Song
- Department of Robotics & Mechatronics, Korea Institute of Machinery & Materials, Daejeon 34103, Republic of Korea
| | - Youngho Kim
- Department of Biomedical Engineering, Yonsei University, Wonju 26493, Republic of Korea
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9
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Bengler K, Harbauer CM, Fleischer M. Exoskeletons: A challenge for development. WEARABLE TECHNOLOGIES 2023; 4:e1. [PMID: 38487778 PMCID: PMC10936272 DOI: 10.1017/wtc.2022.28] [Citation(s) in RCA: 2] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 02/24/2022] [Revised: 10/17/2022] [Accepted: 11/21/2022] [Indexed: 03/17/2024]
Abstract
The development of exoskeletons is currently a lengthy process full of challenges. We are proposing a framework to accelerate the process and make the resulting exoskeletons more user-centered. The needed accomplishments in science are described in an effort to lay the foundation for future research projects. Since the early 2000s, exoskeletons have been discussed as an emerging technology in industrial, medical, or military applications. Those systems are designed to support people during manual tasks. At first, those systems lacked broad acceptance. Many models found their niches in ongoing developments and more diverse systems entering the market. There are still applications that are in dire need of such assistance. Due to the lack of experience with body-worn robotics, the development of such systems has been shaped by trial and error. The lack of legacy products results in longer development times. In this paper, a process to generate a framework is presented to display the required research to enable future exoskeleton designers. Owing to their proximity to the user's body, exoskeletons are highly complex systems that need sophisticated subsystems, such as kinematic, control, interaction design, or actuators, to be accepted by users. Due to the wide variety of fields and high user demands, a synchronized multidisciplinary effort is necessary. To achieve this, a process to develop a modular framework for exoskeleton design is proposed. It focuses on user- and use-case-centered solutions for matching kinematics, actuation, and control. To ensure the usefulness of the framework, an evaluation of the incorporated solutions is required.
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Affiliation(s)
- Klaus Bengler
- Chair of Ergonomics, TUM School of Engineering and Design, Technical University of Munich, Munich, Germany
| | - Christina M. Harbauer
- Chair of Ergonomics, TUM School of Engineering and Design, Technical University of Munich, Munich, Germany
| | - Martin Fleischer
- Chair of Ergonomics, TUM School of Engineering and Design, Technical University of Munich, Munich, Germany
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10
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Massardi S, Rodriguez-Cianca D, Pinto-Fernandez D, Moreno JC, Lancini M, Torricelli D. Characterization and Evaluation of Human–Exoskeleton Interaction Dynamics: A Review. SENSORS 2022; 22:s22113993. [PMID: 35684614 PMCID: PMC9183080 DOI: 10.3390/s22113993] [Citation(s) in RCA: 9] [Impact Index Per Article: 4.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 04/29/2022] [Revised: 05/21/2022] [Accepted: 05/23/2022] [Indexed: 02/01/2023]
Abstract
Exoskeletons and exosuits have witnessed unprecedented growth in recent years, especially in the medical and industrial sectors. In order to be successfully integrated into the current society, these devices must comply with several commercialization rules and safety standards. Due to their intrinsic coupling with human limbs, one of the main challenges is to test and prove the quality of physical interaction with humans. However, the study of physical human–exoskeleton interactions (pHEI) has been poorly addressed in the literature. Understanding and identifying the technological ways to assess pHEI is necessary for the future acceptance and large-scale use of these devices. The harmonization of these evaluation processes represents a key factor in building a still missing accepted framework to inform human–device contact safety. In this review, we identify, analyze, and discuss the metrics, testing procedures, and measurement devices used to assess pHEI in the last ten years. Furthermore, we discuss the role of pHEI in safety contact evaluation. We found a very heterogeneous panorama in terms of sensors and testing methods, which are still far from considering realistic conditions and use-cases. We identified the main gaps and drawbacks of current approaches, pointing towards a number of promising research directions. This review aspires to help the wearable robotics community find agreements on interaction quality and safety assessment testing procedures.
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Affiliation(s)
- Stefano Massardi
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain; (S.M.); (D.R.-C.); (D.P.-F.); (J.C.M.)
- Department of Mechanical and Industrial Engineering (DIMI), University of Brescia, 25100 Brescia, Italy
| | - David Rodriguez-Cianca
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain; (S.M.); (D.R.-C.); (D.P.-F.); (J.C.M.)
| | - David Pinto-Fernandez
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain; (S.M.); (D.R.-C.); (D.P.-F.); (J.C.M.)
- Universidad Politécnica de Madrid (UPM), 28040 Madrid, Spain
| | - Juan C. Moreno
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain; (S.M.); (D.R.-C.); (D.P.-F.); (J.C.M.)
| | - Matteo Lancini
- Department of Medical and Surgical Specialties, Radiological Sciences and Public Health (DSMC), University of Brescia, 25100 Brescia, Italy;
| | - Diego Torricelli
- Neural Rehabilitation Group, Cajal Institute, Spanish National Research Council (CSIC), 28006 Madrid, Spain; (S.M.); (D.R.-C.); (D.P.-F.); (J.C.M.)
- Correspondence:
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11
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Linnenberg C, Weidner R. Industrial exoskeletons for overhead work: Circumferential pressures on the upper arm caused by the physical human-machine-interface. APPLIED ERGONOMICS 2022; 101:103706. [PMID: 35134687 DOI: 10.1016/j.apergo.2022.103706] [Citation(s) in RCA: 2] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/31/2021] [Revised: 01/26/2022] [Accepted: 01/31/2022] [Indexed: 06/14/2023]
Abstract
This study investigated the pressures occurring within the arm human-machine-interfaces (HMI) of four different exoskeletons that support static and dynamic work at or above head level, and the effects of the HMI on neurovascular supply of the upper extremity using an orthopedic provocation maneuver with raised arms with and without the exoskeletons. Decreased time in the provocation maneuver with exoskeletons indicated a negative effect of the HMIs on the vascular and neural supply of the arm. Average pressure in the static situation was 3.2 ± 0.7 kPa and 4.4 ± 0.4 kPa with regular peak values of 6.5 ± 0.5 kPa in the dynamic task. These pressures were significantly higher than the pressure values that guarantee adequate tissue oxygenation. It remains unknown whether the way exoskeletons apply pressure affects vascular and neural supply to the arms, or whether the regular unloading during dynamic activity has a neutralizing effect.
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Affiliation(s)
- Christine Linnenberg
- Institute for Mechatronics, University of Innsbruck, Technikerstraße 13, 6020, Innsbruck, Austria.
| | - Robert Weidner
- Institute for Mechatronics, University of Innsbruck, Technikerstraße 13, 6020, Innsbruck, Austria; Laboratory for Manufacturing Technology, Helmut-Schmidt-University/University of the Federal Armed Forces Hamburg, Holstenhofweg 85, 22043, Hamburg, Germany.
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Babič J, Laffranchi M, Tessari F, Verstraten T, Novak D, Šarabon N, Ugurlu B, Peternel L, Torricelli D, Veneman JF. Challenges and solutions for application and wider adoption of wearable robots. WEARABLE TECHNOLOGIES 2021; 2:e14. [PMID: 38486636 PMCID: PMC10936284 DOI: 10.1017/wtc.2021.13] [Citation(s) in RCA: 10] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/02/2021] [Revised: 08/25/2021] [Accepted: 09/18/2021] [Indexed: 03/17/2024]
Abstract
The science and technology of wearable robots are steadily advancing, and the use of such robots in our everyday life appears to be within reach. Nevertheless, widespread adoption of wearable robots should not be taken for granted, especially since many recent attempts to bring them to real-life applications resulted in mixed outcomes. The aim of this article is to address the current challenges that are limiting the application and wider adoption of wearable robots that are typically worn over the human body. We categorized the challenges into mechanical layout, actuation, sensing, body interface, control, human-robot interfacing and coadaptation, and benchmarking. For each category, we discuss specific challenges and the rationale for why solving them is important, followed by an overview of relevant recent works. We conclude with an opinion that summarizes possible solutions that could contribute to the wider adoption of wearable robots.
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Affiliation(s)
- Jan Babič
- Laboratory for Neuromechanics and Biorobotics, Department of Automation, Biocybernetics and Robotics, Jožef Stefan Institute, Ljubljana, Slovenia
| | - Matteo Laffranchi
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Federico Tessari
- Rehab Technologies Lab, Istituto Italiano di Tecnologia, Genoa, Italy
| | - Tom Verstraten
- Robotics & Multibody Mechanics Research Group, Vrije Universiteit Brussel and Flanders Make, Brussels, Belgium
| | - Domen Novak
- University of Wyoming, Laramie, Wyoming, USA
| | - Nejc Šarabon
- Faculty of Health Sciences, University of Primorska, Izola, Slovenia
| | - Barkan Ugurlu
- Biomechatronics Laboratory, Faculty of Engineering, Ozyegin University, Istanbul, Turkey
| | - Luka Peternel
- Delft Haptics Lab, Department of Cognitive Robotics, Delft University of Technology, Delft, The Netherlands
| | - Diego Torricelli
- Cajal Institute, Spanish National Research Council, Madrid, Spain
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13
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Bessler J, Prange-Lasonder GB, Schaake L, Saenz JF, Bidard C, Fassi I, Valori M, Lassen AB, Buurke JH. Safety Assessment of Rehabilitation Robots: A Review Identifying Safety Skills and Current Knowledge Gaps. Front Robot AI 2021; 8:602878. [PMID: 33937345 PMCID: PMC8080797 DOI: 10.3389/frobt.2021.602878] [Citation(s) in RCA: 27] [Impact Index Per Article: 9.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 09/04/2020] [Accepted: 01/28/2021] [Indexed: 11/19/2022] Open
Abstract
The assessment of rehabilitation robot safety is a vital aspect of the development process, which is often experienced as difficult. There are gaps in best practices and knowledge to ensure safe usage of rehabilitation robots. Currently, safety is commonly assessed by monitoring adverse events occurrence. The aim of this article is to explore how safety of rehabilitation robots can be assessed early in the development phase, before they are used with patients. We are suggesting a uniform approach for safety validation of robots closely interacting with humans, based on safety skills and validation protocols. Safety skills are an abstract representation of the ability of a robot to reduce a specific risk or deal with a specific hazard. They can be implemented in various ways, depending on the application requirements, which enables the use of a single safety skill across a wide range of applications and domains. Safety validation protocols have been developed that correspond to these skills and consider domain-specific conditions. This gives robot users and developers concise testing procedures to prove the mechanical safety of their robotic system, even when the applications are in domains with a lack of standards and best practices such as the healthcare domain. Based on knowledge about adverse events occurring in rehabilitation robot use, we identified multi-directional excessive forces on the soft tissue level and musculoskeletal level as most relevant hazards for rehabilitation robots and related them to four safety skills, providing a concrete starting point for safety assessment of rehabilitation robots. We further identified a number of gaps which need to be addressed in the future to pave the way for more comprehensive guidelines for rehabilitation robot safety assessments. Predominantly, besides new developments of safety by design features, there is a strong need for reliable measurement methods as well as acceptable limit values for human-robot interaction forces both on skin and joint level.
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Affiliation(s)
- Jule Bessler
- Roessingh Research and Development, Enschede, Netherlands.,Department of Biomedical Signals and Systems, University of Twente, Enschede, Netherlands
| | - Gerdienke B Prange-Lasonder
- Roessingh Research and Development, Enschede, Netherlands.,Department of Biomechanical Engineering, University of Twente, Enschede, Netherlands
| | | | - José F Saenz
- Fraunhofer Institute for Factory Operation and Automation, Magdeburg, Germany
| | | | - Irene Fassi
- National Research Council of Italy, Milan, Italy
| | | | - Aske Bach Lassen
- Department of Robot Technology, Danish Technological Institute, Odense, Denmark
| | - Jaap H Buurke
- Roessingh Research and Development, Enschede, Netherlands.,Department of Biomedical Signals and Systems, University of Twente, Enschede, Netherlands
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14
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Integration of 3D Printed Flexible Pressure Sensors into Physical Interfaces for Wearable Robots. SENSORS 2021; 21:s21062157. [PMID: 33808626 PMCID: PMC8003387 DOI: 10.3390/s21062157] [Citation(s) in RCA: 6] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 02/02/2021] [Revised: 02/28/2021] [Accepted: 03/16/2021] [Indexed: 12/14/2022]
Abstract
Sensing pressure at the physical interface between the robot and the human has important implications for wearable robots. On the one hand, monitoring pressure distribution can give valuable benefits on the aspects of comfortability and safety of such devices. Additionally, on the other hand, they can be used as a rich sensory input to high level interaction controllers. However, a problem is that the commercial availability of this technology is mostly limited to either low-cost solutions with poor performance or expensive options, limiting the possibilities for iterative designs. As an alternative, in this manuscript we present a three-dimensional (3D) printed flexible capacitive pressure sensor that allows seamless integration for wearable robotic applications. The sensors are manufactured using additive manufacturing techniques, which provides benefits in terms of versatility of design and implementation. In this study, a characterization of the 3D printed sensors in a test-bench is presented after which the sensors are integrated in an upper arm interface. A human-in-the-loop calibration of the sensors is then shown, allowing to estimate the external force and pressure distribution that is acting on the upper arm of seven human subjects while performing a dynamic task. The validation of the method is achieved by means of a collaborative robot for precise force interaction measurements. The results indicate that the proposed sensors are a potential solution for further implementation in human–robot interfaces.
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15
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Wang Y, Xu Q. Design and testing of a soft parallel robot based on pneumatic artificial muscles for wrist rehabilitation. Sci Rep 2021; 11:1273. [PMID: 33446771 PMCID: PMC7809151 DOI: 10.1038/s41598-020-80411-0] [Citation(s) in RCA: 14] [Impact Index Per Article: 4.7] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/09/2020] [Accepted: 12/21/2020] [Indexed: 01/01/2023] Open
Abstract
Wrist rehabilitation is needed to help post-stroke and post-surgery patients recover from wrist fracture or injury. Traditional rehabilitation training is conducted by a therapist in a hospital, which hinders timely treatment due to the corresponding time and space constraints. This paper presents the design and implementation of a soft parallel robot for automated wrist rehabilitation. The presented wrist rehabilitation robot integrates the advantages of both soft robot and parallel robot structures. Unlike traditional rigid-body based rehabilitation robots, this soft parallel robot exhibits a compact structure, which is highly secure, adaptable, and flexible and thus a low-cost solution for personalized treatment. The proposed soft wrist-rehabilitation robot is driven by six evenly distributed linear actuators using pneumatic artificial muscles and one central linear electric motor. The introduced parallel-kinematic mechanism design enables the enhancement of the output stiffness of the soft robot for practical use. An electromyography sensor is adopted to provide feedback signals for evaluating the rehabilitation training process. A kinematic model of the designed robot is derived, and a prototype is fabricated for experimental testing. The results demonstrate that the developed soft rehabilitation robot can assist the wrist to realize all the required training motions, including abduction-adduction, flexion-extension, and supination-pronation. The compact and lightweight structure of this novel robot makes it convenient to use, and suitable rehabilitation training modes can be chosen for tailored rehabilitation at home or in a hospital.
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Affiliation(s)
- Yaxi Wang
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China
| | - Qingsong Xu
- Department of Electromechanical Engineering, Faculty of Science and Technology, University of Macau, Taipa, Macau, China.
- Zhuhai UM Science & Technology Research Institute, Zhuhai, Guangdong, China.
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Xiloyannis M, Alicea R, Georgarakis AM, Haufe FL, Wolf P, Masia L, Riener R. Soft Robotic Suits: State of the Art, Core Technologies, and Open Challenges. IEEE T ROBOT 2021. [DOI: 10.1109/tro.2021.3084466] [Citation(s) in RCA: 18] [Impact Index Per Article: 6.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
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17
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Sposito M, Di Natali C, Toxiri S, Caldwell DG, De Momi E, Ortiz J. Exoskeleton kinematic design robustness: An assessment method to account for human variability. WEARABLE TECHNOLOGIES 2020; 1:e7. [PMID: 39050269 PMCID: PMC11265404 DOI: 10.1017/wtc.2020.7] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 03/21/2020] [Revised: 08/06/2020] [Accepted: 08/25/2020] [Indexed: 07/27/2024]
Abstract
Exoskeletons are wearable devices intended to physically assist one or multiple human joints in executing certain activities. From a mechanical point of view, they are kinematic structures arranged in parallel to the biological joints. In order to allow the users to move while assisted, it is crucial to avoid mobility restrictions introduced by the exoskeleton's kinematics. Passive degrees of freedom and other self-alignment mechanisms are a common option to avoid any restrictions. However, the literature lacks a systematic method to account for large inter- and intra-subject variability in designing and assessing kinematic chains. To this end, we introduce a model-based method to assess the kinematics of exoskeletons by representing restrictions in mobility as disturbances and undesired forces at the anchor points. The method makes use of robotic kinematic tools and generates useful insights to support the design process. Though an application on a back-support exoskeleton designed for lifting tasks is illustrated, the method can describe any type of rigid exoskeleton. A qualitative pilot trial is conducted to assess the kinematic model that proved to predict kinematic configurations associated to rising undesired forces recorded at the anchor points, that give rise to mobility restrictions and discomfort on the users.
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Affiliation(s)
- Matteo Sposito
- Advanced Robotic (ADVR), Istituto Italiano di Tecnologia, Genova, Italy
- Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milano, Italy
| | | | - Stefano Toxiri
- Advanced Robotic (ADVR), Istituto Italiano di Tecnologia, Genova, Italy
| | | | - Elena De Momi
- Dipartimento di Elettronica, Informazione e Bioingegneria (DEIB), Politecnico di Milano, Milano, Italy
| | - Jesús Ortiz
- Advanced Robotic (ADVR), Istituto Italiano di Tecnologia, Genova, Italy
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Kermavnar T, O'Sullivan KJ, Casey V, de Eyto A, O'Sullivan LW. Circumferential tissue compression at the lower limb during walking, and its effect on discomfort, pain and tissue oxygenation: Application to soft exoskeleton design. APPLIED ERGONOMICS 2020; 86:103093. [PMID: 32342884 DOI: 10.1016/j.apergo.2020.103093] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/17/2019] [Revised: 02/25/2020] [Accepted: 02/26/2020] [Indexed: 06/11/2023]
Abstract
Soft exoskeletons apply compressive forces at the limbs via connection cuffs to actuate movement or stabilise joints. To avoid excessive mechanical loading, the interface with the wearer's body needs to be carefully designed. The purpose of this study was to establish the magnitude of circumferential compression at the lower limb during walking that causes discomfort/pain. It was hypothesized that the thresholds differ from those during standing. A cohort of 21 healthy participants were tested using two sizes of pneumatic cuffs, inflated at the thigh and calf in a tonic or phasic manner. The results showed lower inflation pressures triggering discomfort/pain at the thigh, with tonic compression, and wider pneumatic cuffs. The thresholds were lower during walking than standing still. Deep tissue oxygenation increased during phasic compression and decreased during tonic compression. According to the findings, circumferential compression by soft exoskeletons is preferably applied at anatomical sites with smaller volumes of soft tissue, using narrow connection cuffs and inflation pressures below 14 kPa.
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Affiliation(s)
- Tjaša Kermavnar
- Design Factors, Health Research Institute & CONFIRM Smart Manufacturing Centre, School of Design, University of Limerick, Limerick, Ireland
| | - Kevin J O'Sullivan
- Design Factors, Health Research Institute & CONFIRM Smart Manufacturing Centre, School of Design, University of Limerick, Limerick, Ireland
| | - Vincent Casey
- Department of Physics, Faculty of Science & Engineering, University of Limerick, Limerick, Ireland
| | - Adam de Eyto
- Design Factors, Health Research Institute & CONFIRM Smart Manufacturing Centre, School of Design, University of Limerick, Limerick, Ireland
| | - Leonard W O'Sullivan
- Design Factors, Health Research Institute & CONFIRM Smart Manufacturing Centre, School of Design, University of Limerick, Limerick, Ireland.
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19
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Kermavnar T, O'Sullivan KJ, de Eyto A, O'Sullivan LW. The effect of simulated circumferential soft exoskeleton compression at the knee on discomfort and pain. ERGONOMICS 2020; 63:618-628. [PMID: 32167025 DOI: 10.1080/00140139.2020.1743373] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 08/02/2019] [Accepted: 03/12/2020] [Indexed: 06/10/2023]
Abstract
There is a lack of data and guidance on soft exoskeleton pressure contact with the body. The purpose of this research was to study the relationship between circumferential loading at the knee and discomfort/pain, to inform the design of soft exoskeletons/exosuits. The development of discomfort and pain was studied during standing and walking with circumferential compression using a pneumatic cuff. Our results show higher tolerance for intermittent than continuous compression during standing. Discomfort was triggered at pressures ranging from 13.7 kPa (continuous compression) to 30.4 kPa (intermittent compression), and pain at 52.9 kPa (continuous compression) to 60.6 kPa (intermittent compression). During walking, cyclic compression caused an increase in discomfort with time. Higher cuff inflation pressures caused an earlier onset and higher end intensities of discomfort than lower pressures. Cyclic cuff inflation of 10 kPa and 20 kPa was reasonably well tolerated. Practitioner summary Soft exoskeleton compression of the knee was simulated during static and dynamic compression cycles. The results can be used to understand how users tolerate pressure at the knee, and also to understand the levels at which discomfort and pain are experienced. Abbreviations: BMI: body mass index; DDT: discomfort detection threshold; EndVAS: end of experiment rating on visual analog discomfort scale; PDT: pain detection threshold; SD: standard deviation; SE: standard error; TSP: temporal summation of pain; VAS: visual analogue scale.
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Affiliation(s)
| | | | - Adam de Eyto
- School of Design, University of Limerick, Limerick, Ireland
| | - Leonard W O'Sullivan
- School of Design, Health Research Institute and Confirm Smart Manufacturing Centre, University of Limerick, Limerick, Ireland
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20
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Kermavnar T, O'Sullivan KJ, de Eyto A, O'Sullivan LW. Discomfort/Pain and Tissue Oxygenation at the Lower Limb During Circumferential Compression: Application to Soft Exoskeleton Design. HUMAN FACTORS 2020; 62:475-488. [PMID: 31928412 DOI: 10.1177/0018720819892098] [Citation(s) in RCA: 8] [Impact Index Per Article: 2.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/10/2023]
Abstract
OBJECTIVE To establish the relationship between circumferential compression on the lower limb during simulated ramp and staircase profile loading, and the resultant relationship with discomfort/pain and tissue oxygenation. BACKGROUND Excessive mechanical loading by exoskeletons on the body can lead to pressure-related soft tissue injury. Potential tissue damage is associated with objective oxygen deprivation and accompanied by subjective perception of pain and discomfort. METHOD Three widths of pneumatic cuffs were inflated at the dominant thigh and calf of healthy participants using two inflation patterns (ramp and staircase), using a computer-controlled pneumatic rig. Participants rated discomfort on an electronic visual analog scale and deep tissue oxygenation was monitored using near infrared spectroscopy. RESULTS Circumferential compression with pneumatic cuffs triggered discomfort and pain at lower pressures at the thigh, with wider cuffs, and with a ramp inflation pattern. Staircase profile compression caused an increase in deep tissue oxygenation, whereas the ramp profile compression decreased it. CONCLUSION Discomfort and pain during circumferential compression at the lower limb is related to the width of pneumatic cuffs, the inflation pattern, and the volume of soft tissue at the assessment site. The occurrence of pain is also possibly related to the decrease in deep tissue oxygenation during compression. APPLICATION Our findings can be used to inform safe and comfortable design of soft exoskeletons to avoid discomfort and possible soft tissue injury.
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Liao B, Zang H, Chen M, Wang Y, Lang X, Zhu N, Yang Z, Yi Y. Soft Rod-Climbing Robot Inspired by Winding Locomotion of Snake. Soft Robot 2020; 7:500-511. [PMID: 31986109 DOI: 10.1089/soro.2019.0070] [Citation(s) in RCA: 28] [Impact Index Per Article: 7.0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Abstract
Soft climbing robots have attracted much attention of researchers for their potential applications on the wall or inside the tube. However, making a soft robot climb on the outer surface of a rod or tube by agile and efficient motion has long been a challenge. Inspired by the winding climbing locomotion of arboreal snakes, a tethered pneumatic-actuated winding-styled soft rod-climbing robot that consists of two winding actuators and a telescopic actuator is proposed in this work. Based on constant curvature assumption, we develop a theoretical model to analyze the linear and bending motion of the actuators. We demonstrate that our robot can perform climbing locomotion similar to snakes, including turning around a corner along a rod, climbing a vertical rod with a maximum speed of 30.85 mm/s (0.193 body length/s), and carrying a larger payload (weight, 500 g, more than 25 times its self-weight) than existing soft climbing robots do on a vertical surface. In addition, the experimental tests exhibit the potential applications of the robot in special environments such as high-voltage cables, nuclear power plants, and underwater sites.
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Affiliation(s)
- Bing Liao
- School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China
| | - Hongbin Zang
- School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China.,The Department of Precision Machinery and Precision Instrumentation, University of Science and Technology of China, Hefei, P.R. China
| | - Mingyang Chen
- School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China
| | - Yunjie Wang
- School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China
| | - Xin Lang
- School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China
| | - Nana Zhu
- School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China
| | - Zheng Yang
- School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China
| | - Yan Yi
- School of Manufacturing Science and Engineering, Key Laboratory of Testing Technology for Manufacturing Process, Ministry of Education, Southwest University of Science and Technology, Mianyang, China
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22
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Zhao J, Zhang J, McCoul D, Hao Z, Wang S, Wang X, Huang B, Sun L. Soft and Fast Hopping–Running Robot with Speed of Six Times Its Body Length Per Second. Soft Robot 2019; 6:713-721. [DOI: 10.1089/soro.2018.0098] [Citation(s) in RCA: 23] [Impact Index Per Article: 4.6] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/12/2022] Open
Affiliation(s)
- Jianwen Zhao
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - Junming Zhang
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - David McCoul
- Department of Materials Science and Engineering, UCLA, Los Angeles, California
| | - Zhaogang Hao
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - Shu Wang
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - Xinbo Wang
- Department of Materials Science and Engineering, Harbin Institute of Technology, Weihai, China
| | - Bo Huang
- Department of Mechanical Engineering, Harbin Institute of Technology, Weihai, China
| | - Lining Sun
- School of Mechanical and Electric Engineering, Soochow University, Soochow, China
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23
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Choi H, Kang BB, Jung BK, Cho KJ. Exo-Wrist: A Soft Tendon-Driven Wrist-Wearable Robot With Active Anchor for Dart-Throwing Motion in Hemiplegic Patients. IEEE Robot Autom Lett 2019. [DOI: 10.1109/lra.2019.2931607] [Citation(s) in RCA: 20] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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