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Shi Y, Dong W, Lin W, Gao Y. Soft Wearable Robots: Development Status and Technical Challenges. SENSORS (BASEL, SWITZERLAND) 2022; 22:7584. [PMID: 36236683 PMCID: PMC9573304 DOI: 10.3390/s22197584] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/30/2022] [Revised: 09/25/2022] [Accepted: 10/03/2022] [Indexed: 06/16/2023]
Abstract
In recent years, more and more research has begun to focus on the flexible and lightweight design of wearable robots. During this process, many novel concepts and achievements have been continuously made and shown to the public, while new problems have emerged at the same time, which need to be solved. In this paper, we give an overview of the development status of soft wearable robots for human movement assistance. On the basis of a clear definition, we perform a system classification according to the target assisted joint and attempt to describe the overall prototype design level in related fields. Additionally, it is necessary to sort out the latest research progress of key technologies such as structure, actuation, control and evaluation, thereby analyzing the design ideas and basic characteristics of them. Finally, we discuss the possible application fields, and propose the main challenges of this valuable research direction.
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Affiliation(s)
| | | | | | - Yongzhuo Gao
- State Key Laboratory of Robotics and System, Harbin Institute of Technology (HIT), Harbin 150001, China
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Thøgersen MB, Mohammadi M, Gull MA, Bengtson SH, Kobbelgaard FV, Bentsen B, Khan BYA, Severinsen KE, Bai S, Bak T, Moeslund TB, Kanstrup AM, Andreasen Struijk LNS. User Based Development and Test of the EXOTIC Exoskeleton: Empowering Individuals with Tetraplegia Using a Compact, Versatile, 5-DoF Upper Limb Exoskeleton Controlled through Intelligent Semi-Automated Shared Tongue Control. SENSORS (BASEL, SWITZERLAND) 2022; 22:6919. [PMID: 36146260 PMCID: PMC9502221 DOI: 10.3390/s22186919] [Citation(s) in RCA: 5] [Impact Index Per Article: 2.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Figures] [Subscribe] [Scholar Register] [Received: 08/22/2022] [Revised: 09/06/2022] [Accepted: 09/07/2022] [Indexed: 06/16/2023]
Abstract
This paper presents the EXOTIC- a novel assistive upper limb exoskeleton for individuals with complete functional tetraplegia that provides an unprecedented level of versatility and control. The current literature on exoskeletons mainly focuses on the basic technical aspects of exoskeleton design and control while the context in which these exoskeletons should function is less or not prioritized even though it poses important technical requirements. We considered all sources of design requirements, from the basic technical functions to the real-world practical application. The EXOTIC features: (1) a compact, safe, wheelchair-mountable, easy to don and doff exoskeleton capable of facilitating multiple highly desired activities of daily living for individuals with tetraplegia; (2) a semi-automated computer vision guidance system that can be enabled by the user when relevant; (3) a tongue control interface allowing for full, volitional, and continuous control over all possible motions of the exoskeleton. The EXOTIC was tested on ten able-bodied individuals and three users with tetraplegia caused by spinal cord injury. During the tests the EXOTIC succeeded in fully assisting tasks such as drinking and picking up snacks, even for users with complete functional tetraplegia and the need for a ventilator. The users confirmed the usability of the EXOTIC.
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Affiliation(s)
- Mikkel Berg Thøgersen
- Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark
| | - Mostafa Mohammadi
- Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark
| | - Muhammad Ahsan Gull
- Department of Materials and Production Technology, Aalborg University, 9220 Aalborg, Denmark
| | - Stefan Hein Bengtson
- Visual Analysis and Perception (VAP) Lab, Department of Architecture, Design, and Media Technology, Aalborg University, 9000 Aalborg, Denmark
| | | | - Bo Bentsen
- Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark
| | - Benjamin Yamin Ali Khan
- Spinal Cord Injury Centre of Western Denmark, Viborg Regional Hospital, 8800 Viborg, Denmark
| | - Kåre Eg Severinsen
- Spinal Cord Injury Centre of Western Denmark, Viborg Regional Hospital, 8800 Viborg, Denmark
| | - Shaoping Bai
- Department of Materials and Production Technology, Aalborg University, 9220 Aalborg, Denmark
| | - Thomas Bak
- Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark
| | - Thomas Baltzer Moeslund
- Visual Analysis and Perception (VAP) Lab, Department of Architecture, Design, and Media Technology, Aalborg University, 9000 Aalborg, Denmark
| | | | - Lotte N. S. Andreasen Struijk
- Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark
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Bardi E, Gandolla M, Braghin F, Resta F, Pedrocchi ALG, Ambrosini E. Upper limb soft robotic wearable devices: a systematic review. J Neuroeng Rehabil 2022; 19:87. [PMID: 35948915 PMCID: PMC9367113 DOI: 10.1186/s12984-022-01065-9] [Citation(s) in RCA: 8] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 03/11/2022] [Accepted: 07/21/2022] [Indexed: 11/29/2022] Open
Abstract
INTRODUCTION Soft robotic wearable devices, referred to as exosuits, can be a valid alternative to rigid exoskeletons when it comes to daily upper limb support. Indeed, their inherent flexibility improves comfort, usability, and portability while not constraining the user's natural degrees of freedom. This review is meant to guide the reader in understanding the current approaches across all design and production steps that might be exploited when developing an upper limb robotic exosuit. METHODS The literature research regarding such devices was conducted in PubMed, Scopus, and Web of Science. The investigated features are the intended scenario, type of actuation, supported degrees of freedom, low-level control, high-level control with a focus on intention detection, technology readiness level, and type of experiments conducted to evaluate the device. RESULTS A total of 105 articles were collected, describing 69 different devices. Devices were grouped according to their actuation type. More than 80% of devices are meant either for rehabilitation, assistance, or both. The most exploited actuation types are pneumatic (52%) and DC motors with cable transmission (29%). Most devices actuate 1 (56%) or 2 (28%) degrees of freedom, and the most targeted joints are the elbow and the shoulder. Intention detection strategies are implemented in 33% of the suits and include the use of switches and buttons, IMUs, stretch and bending sensors, EMG and EEG measurements. Most devices (75%) score a technology readiness level of 4 or 5. CONCLUSION Although few devices can be considered ready to reach the market, exosuits show very high potential for the assistance of daily activities. Clinical trials exploiting shared evaluation metrics are needed to assess the effectiveness of upper limb exosuits on target users.
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Affiliation(s)
- Elena Bardi
- Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy
| | - Marta Gandolla
- Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy
| | - Francesco Braghin
- Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy
| | - Ferruccio Resta
- Department of Mechanical Engineering, Politecnico di Milano, Milano, Italy
| | | | - Emilia Ambrosini
- Department of Electronics, Information and Bioengineering, Politecnico di Milano, Milano, Italy
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Execution and perception of upper limb exoskeleton for stroke patients: a systematic review. INTEL SERV ROBOT 2022. [DOI: 10.1007/s11370-022-00435-5] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 10/15/2022]
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A textile exomuscle that assists the shoulder during functional movements for everyday life. NAT MACH INTELL 2022. [DOI: 10.1038/s42256-022-00495-3] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
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Bio-Inspired Conceptual Mechanical Design and Control of a New Human Upper Limb Exoskeleton. ROBOTICS 2021. [DOI: 10.3390/robotics10040123] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/16/2022] Open
Abstract
Safe operation, energy efficiency, versatility and kinematic compatibility are the most important aspects in the design of rehabilitation exoskeletons. This paper focuses on the conceptual bio-inspired mechanical design and equilibrium point control (EP) of a new human upper limb exoskeleton. Considering the upper limb as a multi-muscle redundant system, a similar over-actuated but cable-driven mechatronic system is developed to imitate upper limb motor functions. Additional torque adjusting systems at the joints allow users to lift light weights necessary for activities of daily living (ADL) without increasing electric motor powers of the device. A theoretical model of the “ideal” artificial muscle exoskeleton is also developed using Hill’s natural muscle model. Optimal design parameters of the exoskeleton are defined using the differential evolution (DE) method as a technique of a multi-objective optimization. The proposed cable-driven exoskeleton was then fabricated and tested on a healthy subject. Results showed that the proposed system fulfils the desired aim properly, so that it can be utilized in the design of rehabilitation robots. Further studies may include a spatial mechanism design, which is especially important for the shoulder rehabilitation, and development of reinforcement learning control algorithms to provide more efficient rehabilitation treatment.
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Kadivar Z, Beck CE, Rovekamp RN, O'Malley MK. Single limb cable driven wearable robotic device for upper extremity movement support after traumatic brain injury. J Rehabil Assist Technol Eng 2021; 8:20556683211002448. [PMID: 34123404 PMCID: PMC8175840 DOI: 10.1177/20556683211002448] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/10/2021] [Accepted: 02/24/2021] [Indexed: 11/24/2022] Open
Abstract
Introduction Recently, soft exosuits have been proposed for upper limb movement assistance, most supporting single joint movements. We describe the design of a portable wearable robotic device (WRD), “Armstrong,” able to support three degrees-of-freedom of arm movements, and report on its feasibility for movement support of individuals with hemiparesis after traumatic brain injury (TBI). Methods We introduce Armstrong and report on a pilot evaluation with two male individuals post-TBI (T1 and T2) and two healthy individuals. Testing involved elbow flexion/extension with and without robotic-assisted shoulder stabilization; shoulder abduction with and without robotic-assisted elbow stabilization; and assisted shoulder abduction and flexion. Outcome measures included range of motion and root mean square trajectory and velocity errors. Results TBI subjects performed active, passive, hybrid and active assistive movements with Armstrong. Subjects showed improvements in movement trajectory and velocity. T1 benefited from hybrid, active, and assistive modes due to upper extremity weakness and muscle tone. T2 benefited from hybrid and assistive modes due to impaired coordination. Healthy subjects performed isolated movements of shoulder and elbow with minimal trajectory and velocity errors. Conclusions This study demonstrates the safety and feasibility of Armstrong for upper extremity movement assistance for individuals with TBI, with therapist supervision.
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Affiliation(s)
- Zahra Kadivar
- Texas Institute for Rehabilitation and Research, Houston, TX, USA
| | | | | | - Marcia K O'Malley
- Department of Mechanical Engineering, Rice University, Houston, TX, USA
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Desplenter T, Zhou Y, Edmonds BP, Lidka M, Goldman A, Trejos AL. Rehabilitative and assistive wearable mechatronic upper-limb devices: A review. J Rehabil Assist Technol Eng 2020; 7:2055668320917870. [PMID: 32435505 PMCID: PMC7223206 DOI: 10.1177/2055668320917870] [Citation(s) in RCA: 17] [Impact Index Per Article: 4.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/29/2019] [Accepted: 03/11/2020] [Indexed: 11/17/2022] Open
Abstract
Recently, there has been a trend toward assistive mechatronic devices that are wearable. These devices provide the ability to assist without tethering the user to a specific location. However, there are characteristics of these devices that are limiting their ability to perform motion tasks and the adoption rate of these devices into clinical settings. The objective of this research is to perform a review of the existing wearable assistive devices that are used to assist with musculoskeletal and neurological disorders affecting the upper limb. A review of the existing literature was conducted on devices that are wearable, assistive, and mechatronic, and that provide motion assistance to the upper limb. Five areas were examined, including sensors, actuators, control techniques, computer systems, and intended applications. Fifty-three devices were reviewed that either assist with musculoskeletal disorders or suppress tremor. The general trends found in this review show a lack of requirements, device details, and standardization of reporting and evaluation. Two areas to accelerate the evolution of these devices were identified, including the standardization of research, clinical, and engineering details, and the promotion of multidisciplinary culture. Adoption of these devices into their intended application domains relies on the continued efforts of the community.
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Affiliation(s)
- Tyler Desplenter
- Department of Electrical and Computer Engineering, University of Western Ontario, London, Canada
| | - Yue Zhou
- School of Biomedical Engineering, University of Western Ontario, London, Canada
| | - Brandon Pr Edmonds
- School of Biomedical Engineering, University of Western Ontario, London, Canada
| | - Myles Lidka
- Department of Electrical and Computer Engineering, University of Western Ontario, London, Canada
| | - Allison Goldman
- Department of Electrical and Computer Engineering, University of Western Ontario, London, Canada
| | - Ana Luisa Trejos
- Department of Electrical and Computer Engineering, University of Western Ontario, London, Canada.,School of Biomedical Engineering, University of Western Ontario, London, Canada.,Lawson Health Research Institute, London, Canada
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Varghese RJ, Lo BPL, Yang GZ. Design and Prototyping of a Bio-Inspired Kinematic Sensing Suit for the Shoulder Joint: Precursor to a Multi-DoF Shoulder Exosuit. IEEE Robot Autom Lett 2020. [DOI: 10.1109/lra.2019.2963636] [Citation(s) in RCA: 13] [Impact Index Per Article: 3.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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Lessard S, Pansodtee P, Robbins A, Trombadore JM, Kurniawan S, Teodorescu M. A Soft Exosuit for Flexible Upper-Extremity Rehabilitation. IEEE Trans Neural Syst Rehabil Eng 2018; 26:1604-1617. [DOI: 10.1109/tnsre.2018.2854219] [Citation(s) in RCA: 55] [Impact Index Per Article: 9.2] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
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