Статті в журналах: "Wearable robotic"

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Fang, Bin, Fuchun Sun, Huaping Liu, Di Guo, Wendan Chen, and Guodong Yao. "Robotic teleoperation systems using a wearable multimodal fusion device." International Journal of Advanced Robotic Systems 14, no. 4 (July 1, 2017): 172988141771705. http://dx.doi.org/10.1177/1729881417717057.

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Teleoperation is of great importance in the area of robotics especially when people’s presence at the robot working space is unavailable. It provides an alternative to employ human intelligence in the control of the robot remotely. We establish robotic teleoperation systems with a wearable multimodal fusion device. The device is integrated with 18 low-cost inertial and magnetic measurement units, which cover all segments of the arm and hand. The multimodal fusion algorithm based on extended Kalman filter is deduced to determine the orientations and positions of each segment. Then, the robotic teleoperation systems using the proposed device are designed. The novel teleoperation schemes can be applied for 11DOF robotic arm–hand system and 10DOF robotic arm–hand system, in which the operator’s fingers are used for robotic hand teleoperation, and the arms with palm are used for robotic arm teleoperation. Meanwhile, the proposed robotic teleoperation systems are fully realized with a user-friendly human–machine interaction interface. Finally, a series of experiments are conducted with our robotic teleoperation system successfully.

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Martinez-Hernandez, Uriel, Benjamin Metcalfe, Tareq Assaf, Leen Jabban, James Male, and Dingguo Zhang. "Wearable Assistive Robotics: A Perspective on Current Challenges and Future Trends." Sensors 21, no. 20 (October 12, 2021): 6751. http://dx.doi.org/10.3390/s21206751.

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Wearable assistive robotics is an emerging technology with the potential to assist humans with sensorimotor impairments to perform daily activities. This assistance enables individuals to be physically and socially active, perform activities independently, and recover quality of life. These benefits to society have motivated the study of several robotic approaches, developing systems ranging from rigid to soft robots with single and multimodal sensing, heuristics and machine learning methods, and from manual to autonomous control for assistance of the upper and lower limbs. This type of wearable robotic technology, being in direct contact and interaction with the body, needs to comply with a variety of requirements to make the system and assistance efficient, safe and usable on a daily basis by the individual. This paper presents a brief review of the progress achieved in recent years, the current challenges and trends for the design and deployment of wearable assistive robotics including the clinical and user need, material and sensing technology, machine learning methods for perception and control, adaptability and acceptability, datasets and standards, and translation from lab to the real world.

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In, Hyunki, Useok Jeong, Brian Byunghyun Kang, Haemin Lee, Inwook Koo, and Kyu-Jin Cho. "Trend of Soft Wearable Robotic Hand." Journal of Institute of Control, Robotics and Systems 21, no. 6 (June 1, 2015): 531–37. http://dx.doi.org/10.5302/j.icros.2015.15.9029.

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Xue, Xiangming, Bohua Zhang, Sunho Moon, Guo-Xuan Xu, Chih-Chung Huang, Nitin Sharma, and Xiaoning Jiang. "Development of a Wearable Ultrasound Transducer for Sensing Muscle Activities in Assistive Robotics Applications." Biosensors 13, no. 1 (January 13, 2023): 134. http://dx.doi.org/10.3390/bios13010134.

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Robotic prostheses and powered exoskeletons are novel assistive robotic devices for modern medicine. Muscle activity sensing plays an important role in controlling assistive robotics devices. Most devices measure the surface electromyography (sEMG) signal for myoelectric control. However, sEMG is an integrated signal from muscle activities. It is difficult to sense muscle movements in specific small regions, particularly at different depths. Alternatively, traditional ultrasound imaging has recently been proposed to monitor muscle activity due to its ability to directly visualize superficial and at-depth muscles. Despite their advantages, traditional ultrasound probes lack wearability. In this paper, a wearable ultrasound (US) transducer, based on lead zirconate titanate (PZT) and a polyimide substrate, was developed for a muscle activity sensing demonstration. The fabricated PZT-5A elements were arranged into a 4 × 4 array and then packaged in polydimethylsiloxane (PDMS). In vitro porcine tissue experiments were carried out by generating the muscle activities artificially, and the muscle movements were detected by the proposed wearable US transducer via muscle movement imaging. Experimental results showed that all 16 elements had very similar acoustic behaviors: the averaged central frequency, −6 dB bandwidth, and electrical impedance in water were 10.59 MHz, 37.69%, and 78.41 Ω, respectively. The in vitro study successfully demonstrated the capability of monitoring local muscle activity using the prototyped wearable transducer. The findings indicate that ultrasonic sensing may be an alternative to standardize myoelectric control for assistive robotics applications.

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Zazoum, Bouchaib, Khalid Mujasam Batoo, and Muhammad Azhar Ali Khan. "Recent Advances in Flexible Sensors and Their Applications." Sensors 22, no. 12 (June 20, 2022): 4653. http://dx.doi.org/10.3390/s22124653.

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Flexible sensors are low cost, wearable, and lightweight, as well as having a simple structure as per the requirements of engineering applications. Furthermore, for many potential applications, such as human health monitoring, robotics, wearable electronics, and artificial intelligence, flexible sensors require high sensitivity and stretchability. Herein, this paper systematically summarizes the latest progress in the development of flexible sensors. The review briefly presents the state of the art in flexible sensors, including the materials involved, sensing mechanisms, manufacturing methods, and the latest development of flexible sensors in health monitoring and soft robotic applications. Moreover, this paper provides perspectives on the challenges in this field and the prospect of flexible sensors.

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Carpino, Giorgio, Alessandra Pezzola, Michele Urbano, and Eugenio Guglielmelli. "Assessing Effectiveness and Costs in Robot-Mediated Lower Limbs Rehabilitation: A Meta-Analysis and State of the Art." Journal of Healthcare Engineering 2018 (June 4, 2018): 1–9. http://dx.doi.org/10.1155/2018/7492024.

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Robots were introduced in rehabilitation in the 90s to meet different needs, that is, reducing the physical effort of therapists. This work consists of a meta-analysis of robot-mediated lower limbs rehabilitation for stroke-affected patients; it aims at evaluating the effectiveness of the robotic approach through the use of wearable robots or operational machines with respect to the conventional approach (i.e., manual rehabilitation therapy). The primary assessed outcome is the patient’s ability to recover walking independence, whereas the secondary outcome is the average walking speed. The therapy acceptability and the treatment costs are also assessed. The assessment shows that the robot-mediated therapy is more effective than the conventional one in reaching the primary outcome. As for the secondary outcome, there is no significant difference between the robotic (wearable robots or operational machines) and the conventional approach. Rehabilitation using wearable robots has a greater acceptability than the conventional one. This does not apply to operational machines. The cost of robotic treatment with wearable robots ranges from double to triple the cost of the conventional approach. On the contrary, rehabilitation using operational machines costs the same as the conventional treatment. Robotic rehabilitation based on operational machines is the most cost-effective approach.

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Tucker, Luke A., Ji Chen, Lauren Hammel, Diane L. Damiano, and Thomas C. Bulea. "An open source graphical user interface for wireless communication and operation of wearable robotic technology." Journal of Rehabilitation and Assistive Technologies Engineering 7 (January 2020): 205566832096405. http://dx.doi.org/10.1177/2055668320964056.

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Introduction Wearable robotic exoskeletons offer the potential to move gait training from the clinic to the community thereby providing greater therapy dosage in more naturalistic settings. To capitalize on this potential, intuitive and robust interfaces are necessary between robotic devices and end users. Such interfaces hold great promise for research if they are also designed to record data from the robot during its use. Methods We present the design and validation of an open source graphical user interface (GUI) for wireless operation of and real-time data logging from a pediatric robotic exoskeleton. The GUI was designed for trained users such as an engineer or clinician. A simplified mobile application is also provided to enable exoskeleton operation by an end-user or their caretaker. GUI function was validated during simulated walking with the exoskeleton using a motion capture system. Results Our results demonstrate the ability of the GUI to wirelessly operate and save data from exoskeleton sensors with high fidelity comparable to motion capture. Conclusion The GUI code, available in a public repository with a detailed description and step-by-step tutorial, is configurable to interact with any robotic device operated by a microcontroller and therefore represents a potentially powerful tool for deployment and evaluation of community based robotics.

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Wang, Weizu, Tao Wu, Cameron J. Hohimer, Changki Mo, and Qin Zhang. "Stability Analysis for Orchard Wearable Robotic System." IFAC-PapersOnLine 49, no. 16 (2016): 61–65. http://dx.doi.org/10.1016/j.ifacol.2016.10.012.

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Devi, Delshi Howsalya, Kumutha Duraisamy, Ammar Armghan, Meshari Alsharari, Khaled Aliqab, Vishal Sorathiya, Sudipta Das, and Nasr Rashid. "5G Technology in Healthcare and Wearable Devices: A Review." Sensors 23, no. 5 (February 24, 2023): 2519. http://dx.doi.org/10.3390/s23052519.

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Wearable devices with 5G technology are currently more ingrained in our daily lives, and they will now be a part of our bodies too. The requirement for personal health monitoring and preventive disease is increasing due to the predictable dramatic increase in the number of aging people. Technologies with 5G in wearables and healthcare can intensely reduce the cost of diagnosing and preventing diseases and saving patient lives. This paper reviewed the benefits of 5G technologies, which are implemented in healthcare and wearable devices such as patient health monitoring using 5G, continuous monitoring of chronic diseases using 5G, management of preventing infectious diseases using 5G, robotic surgery using 5G, and 5G with future of wearables. It has the potential to have a direct effect on clinical decision making. This technology could improve patient rehabilitation outside of hospitals and monitor human physical activity continuously. This paper draws the conclusion that the widespread adoption of 5G technology by healthcare systems enables sick people to access specialists who would be unavailable and receive correct care more conveniently.

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Wang, Qining, Nicola Vitiello, Samer Mohammed, and Sunil Agrawal. "Special Issue on Wearable Robotics: Dynamics, Control and Applications." Robotica 37, no. 12 (November 13, 2019): 2011–13. http://dx.doi.org/10.1017/s0263574719001486.

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While initially conceived for human motion augmentation, wearable robots have gradually evolved as technological aids in motion assistance and rehabilitation. There are increasing real-world applications in industrial and medical scenarios. Though efforts have been made on wearable robotic systems, e.g. robotic prostheses and exoskeletons, there are still several challenges in kinematics and actuation solutions, dynamic analysis and control of human-robot systems, neuro-control and human-robot interfaces; ergonomics and human-in-the-loop optimization. Meanwhile, real-world applications in industrial or medical scenarios are facing difficulties considering effectiveness.

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Wong, Christopher Kevin, Lauri Bishop, and Joel Stein. "A wearable robotic knee orthosis for gait training: a case-series of hemiparetic stroke survivors." Prosthetics and Orthotics International 36, no. 1 (November 14, 2011): 113–20. http://dx.doi.org/10.1177/0309364611428235.

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Background and Aim: Until recently, robotic devices for stroke rehabilitation had multi-joint designs that were often tethered to a treadmill for gait training. A new single-joint wearable robotic knee orthosis (RKO) has been designed that provides patient-initiated powered-assistance in untethered functional mobility. This case-series documents application of the wearable RKO in untethered functional training with stroke survivors.Technique: Three ambulatory adult stroke survivors used a wearable RKO during 18 one-hour sessions within a six-week physical therapy programme. Subjects were assessed with a variety of balance, gait and functional tests including the Berg Balance Scale (BBS); six-minute walk test (6MWT); and Emory Functional Ambulation Profile (EFAP) at pre-treatment, post-treatment, one-month and three-month follow-up.Discussion: All subjects improved balance, gait and functional performances with mean individual improvements of 12.6% for BBS, 12.0% for 6MWT and 16.7% for EFAP post-treatment. No adverse events occurred. These three stroke survivors may have benefited from the task-specific functional training programme augmented by RKO use.Clinical relevancePhysical therapists may find a wearable robotic knee orthosis useful for providing patient-initiated assisted movement for ambulatory chronic stroke survivors during functional task-specific balance and mobility training.

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Balasubramanian, Sivakumar, and Jiping He. "Adaptive Control of a Wearable Exoskeleton for Upper-Extremity Neurorehabilitation." Applied Bionics and Biomechanics 9, no. 1 (2012): 99–115. http://dx.doi.org/10.1155/2012/136837.

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The paper describes the implementation and testing of two adaptive controllers developed for a wearable, underactuated upper extremity therapy robot – RUPERT (Robotic Upper Extremity Repetitive Trainer). The controllers developed in this study were used to implement two adaptive robotic therapy modes – the adaptive co-operative mode and the adaptive active-assist mode – that are based on two different approaches for providing robotic assistance for task practice. The adaptive active-assist mode completes therapy tasks when a subject is unable to do so voluntarily. This robotic therapy mode is a novel implementation of the idea of an active-assist therapy mode; it utilizes the measure of a subject’s motor ability, along with their real-time movement kinematics to initiate robotic assistance at the appropriate time during a movement trial. The adaptive co-operative mode, on the other hand, is based on the idea of enabling task completion instead of completing the task for the subject. Both these therapy modes were designed to adapt to a stroke subject's motor ability, and thus encourage voluntary participation from the stroke subject. The two controllers were tested on three stroke subjects practicing robot-assisted reaching movements. The results from this testing demonstrate that an underactuated wearable exoskeleton, such as RUPERT, can be used for administering robot-assisted therapy, in a manner that encourages voluntary participation from the subject undergoing therapy.

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Wang, Weitian, Rui Li, Longxiang Guo, Z. Max Diekel, and Yunyi Jia. "Hands-Free Maneuvers of Robotic Vehicles via Human Intentions Understanding Using Wearable Sensing." Journal of Robotics 2018 (2018): 1–10. http://dx.doi.org/10.1155/2018/4546094.

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Intelligent robotic vehicles are more and more fully automated, without steering wheels, gas/brake pedals, or gearshifts. However, allowing the human driver to step in and maneuver the robotic vehicle under specific driving requirements is a necessary issue that should be considered. To this end, we propose a wearable-sensing-based hands-free maneuver intention understanding approach to assist the human to naturally operate the robotic vehicle without physical contact. The human intentions are interpreted and modeled based on the fuzzy control using the forearm postures and muscle activities information detected by a wearable sensory system, which incorporates electromyography (EMG) sensors and inertial measurement unit (IMU). Based on the maneuver intention understanding model, the human can flexibly, intuitively, and conveniently control diverse vehicle maneuvers only using his intention expressions. This approach was implemented by a series of experiments in the practical situations on a lab-based 1/10 robotic vehicle research platform. Experimental results and evaluations demonstrated that, by taking advantage of the nonphysical contact and natural handleability of this approach, the robotic vehicle was successfully and effectively maneuvered to finish the driving tasks with considerable accuracy and robustness in human-robotic vehicle interaction.

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Vatsal, Vighnesh, and Guy Hoffman. "Biomechanical Motion Planning for a Wearable Robotic Forearm." IEEE Robotics and Automation Letters 6, no. 3 (July 2021): 5024–31. http://dx.doi.org/10.1109/lra.2021.3071675.

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Poritz, Julia M. P., Heather B. Taylor, Gerard Francisco, and Shuo-Hsiu Chang. "User satisfaction with lower limb wearable robotic exoskeletons." Disability and Rehabilitation: Assistive Technology 15, no. 3 (February 20, 2019): 322–27. http://dx.doi.org/10.1080/17483107.2019.1574917.

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Xie, Mengying, Kyohei Hisano, Mingzhu Zhu, Takuya Toyoshi, Min Pan, Shima Okada, Osamu Tsutsumi, Sadao Kawamura, and Chris Bowen. "Flexible Multifunctional Sensors for Wearable and Robotic Applications." Advanced Materials Technologies 4, no. 3 (January 4, 2019): 1800626. http://dx.doi.org/10.1002/admt.201800626.

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Zhetenbayev, Nursultan, Gani Balbayev, Duisebayeva Aknur, Algazy Zhauyt, and Beibit Shingissov. "Developing of a wearable ankle rehabilitation robotic device." Vibroengineering PROCEDIA 48 (February 11, 2023): 36–41. http://dx.doi.org/10.21595/vp.2023.23168.

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People with walking disorders caused by accidents or stroke can undergo treatment to restore their mobility. Traditional therapy is time-consuming and time-consuming. Therefore, a new trend was born – to facilitate rehabilitation and reduce the patient’s time. Rehabilitation robotics is an area that is constantly evolving, and new mechanisms have recently been developed to help people regain their mobility. This paper presents a 3-RPS parallel manipulator for the restoration of the ankle joint with three degrees of freedom. Parallel manipulator 3-RPS with three degrees of freedom, which was introduced by K. Hunt in 1983 as one of the sedentary parallel manipulators. Since then, 3-RPS has attracted a lot of attention from robotics and biomedical engineering engineers.

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Chen, Liang, Hanxu Sun, Wei Zhao, and Tao Yu. "Robotic Arm Control System Based on AI Wearable Acceleration Sensor." Mathematical Problems in Engineering 2021 (March 3, 2021): 1–13. http://dx.doi.org/10.1155/2021/5544375.

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The position of mechanical arm in people’s life is getting higher and higher. It replaces the function of human arm, moving and moving in space. Generally, the structure is composed of mechanical body, controller, servo mechanism, and sensor, and some specified actions are set to complete according to the actual production requirements. The manipulator has flexible operation, good stability, and high safety, so it is widely used in industrial automation production line. With the development of science and technology, many practical production requirements for the function of the manipulator are more and more refined, especially in the high-end research field. For example, medical devices, automobile manufacturing, deep-sea submarines, and space station maintenance put forward higher requirements for it. In terms of miniaturization and precision, it can meet the needs of scientific research and actual production. But these are inseparable from the motion control system technology. This paper mainly introduces the research of manipulator control system based on AI wearable acceleration sensor, aiming to provide some ideas and directions for the research of wearable manipulator. This paper presents the research method of manipulator control system based on AI wearable acceleration sensor, including the establishment of manipulator kinematics model, common filtering algorithm, and PI algorithm of speed control system. It is used for the research and experiment of manipulator control system based on AI wearable acceleration sensor. The experimental results show that the average matching rate of the manipulator control system based on AI wearable acceleration sensor is as high as 88.89%, and the stability of the feature descriptor is high.

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TAŞAR, BEYDA, AHMET BURAK TATAR, ALPER KADIR TANYILDIZI, and OGUZ YAKUT. "DESIGN, DYNAMIC MODELING AND CONTROL OF WEARABLE FINGER ORTHOSIS." Journal of Mechanics in Medicine and Biology 21, no. 01 (January 30, 2021): 2150006. http://dx.doi.org/10.1142/s0219519421500068.

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Human hands and fingers are of significant importance in people’s capacity to perform daily tasks (touching, feeling, holding, gripping, writing). However, about 1.5 million people around the world are suffering from injuries, muscle and neurological disorders, a loss of hand function, or a few fingers due to stroke. This paper focuses on newly developed finger orthotics, which is thin, adaptable to the length of each finger and low energy costs. The aim of the study is to design and control a new robotic orthosis using for daily rehabilitation therapy. Kinematic and dynamic analysis of orthosis was calculated and the joint regulation of orthosis was obtained. The Lagrange method was used to obtain dynamics, and the Denavit–Hartenberg (D–H) method was used for kinematic analysis of hand. In order to understand its behavior, the robotic finger orthotics model was simulated in MatLab/Simulink. The simulation results show that the efficiency and robustness of proportional integral derivative (PID) controller are appropriate for the use of robotic finger orthotics.

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Bass, Alec, Mylène Aubertin-Leheudre, Claude Vincent, Antony D. Karelis, Suzanne N. Morin, Michelle McKerral, Cyril Duclos, and Dany H. Gagnon. "Effects of an Overground Walking Program With a Robotic Exoskeleton on Long-Term Manual Wheelchair Users With a Chronic Spinal Cord Injury: Protocol for a Self-Controlled Interventional Study." JMIR Research Protocols 9, no. 9 (September 24, 2020): e19251. http://dx.doi.org/10.2196/19251.

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Background In wheelchair users with a chronic spinal cord injury (WUSCI), prolonged nonactive sitting time and reduced physical activity—typically linked to this mode of mobility—contribute to the development or exacerbation of cardiorespiratory, musculoskeletal, and endocrine-metabolic health complications that are often linked to increased risks of chronic pain or psychological morbidity. Limited evidence suggests that engaging in a walking program with a wearable robotic exoskeleton may be a promising physical activity intervention to counter these detrimental health effects. Objective This study’s overall goals are as follows: (1) to determine the effects of a 16-week wearable robotic exoskeleton–assisted walking program on organic systems, functional capacities, and multifaceted psychosocial factors and (2) to determine self-reported satisfaction and perspectives with regard to the intervention and the device. Methods A total of 20 WUSCI, who have had their injuries for more than 18 months, will complete an overground wearable robotic exoskeleton–assisted walking program (34 sessions; 60 min/session) supervised by a physiotherapist over a 16-week period (one to three sessions/week). Data will be collected 1 month prior to the program, at the beginning, and at the end as well as 2 months after completing the program. Assessments will characterize sociodemographic characteristics; anthropometric parameters; sensorimotor impairments; pain; lower extremity range of motion and spasticity; wheelchair abilities; cardiorespiratory fitness; upper extremity strength; bone architecture and mineral density at the femur, tibia, and radius; total and regional body composition; health-related quality of life; and psychological health. Interviews and an online questionnaire will be conducted to measure users’ satisfaction levels and perspectives at the end of the program. Differences across measurement times will be verified using appropriate parametric or nonparametric analyses of variance for repeated measures. Results This study is currently underway with active recruitment in Montréal, Québec, Canada. Results are expected in the spring of 2021. Conclusions The results from this study will be essential to guide the development, implementation, and evaluation of future evidence-based wearable robotic exoskeleton–assisted walking programs offered in the community, and to initiate a reflection regarding the use of wearable robotic exoskeletons during initial rehabilitation following a spinal cord injury. Trial Registration ClinicalTrials.gov NCT03989752; https://clinicaltrials.gov/ct2/show/NCT03989752 International Registered Report Identifier (IRRID) DERR1-10.2196/19251

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Valle, Giacomo, Albulena Saliji, Ezra Fogle, Andrea Cimolato, Francesco M. Petrini, and Stanisa Raspopovic. "Mechanisms of neuro-robotic prosthesis operation in leg amputees." Science Advances 7, no. 17 (April 2021): eabd8354. http://dx.doi.org/10.1126/sciadv.abd8354.

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Above-knee amputees suffer the lack of sensory information, even while using most advanced prostheses. Restoring intraneural sensory feedback results in functional and cognitive benefits. It is unknown how this artificial feedback, restored through a neuro-robotic leg, influences users’ sensorimotor strategies and its implications for future wearable robotics. To unveil these mechanisms, we measured gait markers of a sensorized neuroprosthesis in two leg amputees during motor tasks of different difficulty. Novel sensorimotor strategies were intuitively promoted, allowing for a higher walking speed in both tasks. We objectively quantified the augmented prosthesis’ confidence and observed the reshaping of the legs’ kinematics toward a more physiological gait. In a possible scenario of a leg amputee driving a conventional car, we showed a finer pressure estimation from the prosthesis. Users exploited different features of the neural stimulation during tasks, suggesting that a simple prosthesis sensorization could be effective for future neuro-robotic prostheses.

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Hosseini, Mohssen, Roberto Meattini, Gianluca Palli, and Claudio Melchiorri. "A Wearable Robotic Device Based on Twisted String Actuation for Rehabilitation and Assistive Applications." Journal of Robotics 2017 (2017): 1–11. http://dx.doi.org/10.1155/2017/3036468.

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The preliminary experimental study toward the implementation of an arm rehabilitation device based on a twisted string actuation module is presented. The actuation module is characterized by an integrated force sensor based on optoelectronic components. The adopted actuation system can be used for a wide set of robotic applications and is particularly suited for very compact, light-weight, and wearable robotic devices, such as wearable rehabilitation systems and exoskeletons. Thorough presentation and description of the proposed actuation module as well as the basic force sensor working principle are illustrated and discussed. A conceptual design of a wearable arm assistive system based on the proposed actuation module is presented. Moreover, the actuation module has been used in a simple assistive application, in which surface-electromyography signals are used to detect muscle activity of the user wearing the system and to regulate the support action provided to the user to reduce his effort, showing in this way the effectiveness of the approach.

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Liu, Rongrong, Florent Nageotte, Philippe Zanne, Michel de Mathelin, and Birgitta Dresp-Langley. "Wearable Wireless Biosensors for Spatiotemporal Grip Force Profiling in Real Time." Engineering Proceedings 2, no. 1 (November 14, 2020): 45. http://dx.doi.org/10.3390/ecsa-7-08252.

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The temporal evolution of individual grip force profiles of a novice using a robotic system for minimally invasive endoscopic surgery is analyzed on the basis of thousands of individual sensor data recorded in real time through a wearable wireless sensor glove system. The spatio-temporal grip force profiles from specific sensor locations in the dominant hand performing a four-step pick-and-drop simulator task reveal skill-relevant differences in force deployment by the small finger (fine grip force control) and the middle finger (gross grip force contribution) by comparison with the profiles of a highly proficient expert. Cross-disciplinary insights from systems neuroscience, cognitive behavioral science, and robotics, with implications for biologically inspired AI for human–robot interactions, highlight the functional significance of spatio-temporal grip force profiling.

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Forte, Giuseppe, Erik Leemhuis, Francesca Favieri, Maria Casagrande, Anna Maria Giannini, Luigi De Gennaro, and Mariella Pazzaglia. "Exoskeletons for Mobility after Spinal Cord Injury: A Personalized Embodied Approach." Journal of Personalized Medicine 12, no. 3 (March 1, 2022): 380. http://dx.doi.org/10.3390/jpm12030380.

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Endowed with inherent flexibility, wearable robotic technologies are powerful devices that are known to extend bodily functionality to assist people with spinal cord injuries (SCIs). However, rather than considering the specific psychological and other physiological needs of their users, these devices are specifically designed to compensate for motor impairment. This could partially explain why they still cannot be adopted as an everyday solution, as only a small number of patients use lower-limb exoskeletons. It remains uncertain how these devices can be appropriately embedded in mental representations of the body. From this perspective, we aimed to highlight the homeostatic role of autonomic and interoceptive signals and their possible integration in a personalized experience of exoskeleton overground walking. To ensure personalized user-centered robotic technologies, optimal robotic devices should be designed and adjusted according to the patient’s condition. We discuss how embodied approaches could emerge as a means of overcoming the hesitancy toward wearable robots.

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Khan, Haris, Afaque Manzoor Soomro, Abdul Samad, Irfanullah, Muhammad Waqas, Hina Ashraf, Saeed Ahmed Khan, and Kyung Hyun Choi. "Highly sensitive mechano-optical strain sensors based on 2D materials for human wearable monitoring and high-end robotic applications." Journal of Materials Chemistry C 10, no. 3 (2022): 932–40. http://dx.doi.org/10.1039/d1tc03519c.

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Russo, Matteo, and Marco Ceccarelli. "Analysis of a Wearable Robotic System for Ankle Rehabilitation." Machines 8, no. 3 (August 27, 2020): 48. http://dx.doi.org/10.3390/machines8030048.

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As one of the most commonly injured joints of the human body, the ankle is often subject to sprains or fractures that require motion assistance to recover mobility. Whereas physiotherapists usually perform rehabilitation in one-on-one sessions with patients, several successful robotic rehabilitation solutions have been proposed in the last years. However, their design is usually bulky and requires the patient to sit or stand in a static position. A lightweight wearable device for ankle motion assistance, the CABLEankle, is here proposed for motion ankle exercising in rehabilitation and training. The CABLEankle is based on a cable-driven S-4SPS parallel architecture, which enables motion assistance over the large motion range of the human ankle in a walking gait. The proposed mechanism design is analyzed with kinematic and static models, and the force closure workspace of the mechanism is discussed with analytical results. Finally, the feasibility of the proposed design is investigated through numerical simulations over the ankle motion range as a characterization of the peculiar motion.

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Jung, Sung-Yoon, Chan-Young Park, Ju-Hawn Bae, and In-Hyuk Moon. "A Wearable Interface for Tendon-driven Robotic Hand Prosthesis." Journal of Institute of Control, Robotics and Systems 16, no. 4 (April 1, 2010): 374–80. http://dx.doi.org/10.5302/j.icros.2010.16.4.374.

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Jacinto-Villegas, Juan Manuel, Massimo Satler, Alessandro Filippeschi, Massimo Bergamasco, Matteo Ragaglia, Alfredo Argiolas, Marta Niccolini, and Carlo Alberto Avizzano. "A Novel Wearable Haptic Controller for Teleoperating Robotic Platforms." IEEE Robotics and Automation Letters 2, no. 4 (October 2017): 2072–79. http://dx.doi.org/10.1109/lra.2017.2720850.

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De La Fuente, Juan, Susheelkumar C. Subramanian, Thomas G. Sugar, and Sangram Redkar. "A robust phase oscillator design for wearable robotic systems." Robotics and Autonomous Systems 128 (June 2020): 103514. http://dx.doi.org/10.1016/j.robot.2020.103514.

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Talan, Jamie. "A Robotic Wearable Device Assists Shoulder Movement in ALS." Neurology Today 23, no. 5 (March 2, 2023): 1,22–23. http://dx.doi.org/10.1097/01.nt.0000923012.07718.99.

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31

Poli, Patrizia, Giovanni Morone, Giulio Rosati, and Stefano Masiero. "Robotic Technologies and Rehabilitation: New Tools for Stroke Patients’ Therapy." BioMed Research International 2013 (2013): 1–8. http://dx.doi.org/10.1155/2013/153872.

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Анотація:

Introduction. The role of robotics in poststroke patients’ rehabilitation has been investigated intensively. This paper presents the state-of-the-art and the possible future role of robotics in poststroke rehabilitation, for both upper and lower limbs.Materials and Methods. We performed a comprehensive search of PubMed, Cochrane, and PeDRO databases using as keywords “robot AND stroke AND rehabilitation.”Results and Discussion. In upper limb robotic rehabilitation, training seems to improve arm function in activities of daily living. In addition, electromechanical gait training after stroke seems to be effective. It is still unclear whether robot-assisted arm training may improve muscle strength, and which electromechanical gait-training device may be the most effective for walking training implementation.Conclusions. In the field of robotic technologies for stroke patients’ rehabilitation we identified currently relevant growing points and areas timely for developing research. Among the growing points there is the development of new easily transportable, wearable devices that could improve rehabilitation also after discharge, in an outpatient or home-based setting. For developing research, efforts are being made to establish the ideal type of treatment, the length and amount of training protocol, and the patient’s characteristics to be successfully enrolled to this treatment.

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Setiawan, Joga Dharma, Mochammad Ariyanto, M. Munadi, Muhammad Mutoha, Adam Glowacz, and Wahyu Caesarendra. "Grasp Posture Control of Wearable Extra Robotic Fingers with Flex Sensors Based on Neural Network." Electronics 9, no. 6 (May 29, 2020): 905. http://dx.doi.org/10.3390/electronics9060905.

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This study proposes a data-driven control method of extra robotic fingers to assist a user in bimanual object manipulation that requires two hands. The robotic system comprises two main parts, i.e., robotic thumb (RT) and robotic fingers (RF). The RT is attached next to the user’s thumb, while the RF is located next to the user’s little finger. The grasp postures of the RT and RF are driven by bending angle inputs of flex sensors, attached to the thumb and other fingers of the user. A modified glove sensor is developed by attaching three flex sensors to the thumb, index, and middle fingers of a wearer. Various hand gestures are then mapped using a neural network. The input data of the robotic system are the bending angles of thumb and index, read by flex sensors, and the outputs are commanded servo angles for the RF and RT. The third flex sensor is attached to the middle finger to hold the extra robotic finger’s posture. Two force-sensitive resistors (FSRs) are attached to the RF and RT for the haptic feedback when the robot is worn to take and grasp a fragile object, such as an egg. The trained neural network is embedded into the wearable extra robotic fingers to control the robotic motion and assist the human fingers in bimanual object manipulation tasks. The developed extra fingers are tested for their capacity to assist the human fingers and perform 10 different bimanual tasks, such as holding a large object, lifting and operate an eight-inch tablet, and lifting a bottle, and opening a bottle cap at the same time.

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Lee, Ho-Won, Kyung-Oh Lee, In-Ae Kang, Joong-Eup Kye, and Yoon-Yong Park. "Design of a Generic Wearable-Robot Monitoring System (GWRMS) for Patients with Lower Limb Paralysis." Applied Sciences 10, no. 16 (August 11, 2020): 5566. http://dx.doi.org/10.3390/app10165566.

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The development of wearable robotic technology has accelerated recently due to active research in industrial technology. Wearable robots are used to help patients with lower-body palsy to walk. This paper reports a generic wearable-robot monitoring system (GWRMS) that supports resource monitoring and status prediction. The GWRMS offers universal support for operating systems that comply with the Portable Operating System Interface (POSIX) application programming interface (API), reducing limitations that arise due to the choice of operating system and processor. This system improves optimisation of a program operating in a robot-embedded system by detecting overhead in the software process of the wearable robot. In addition, it operates using TCP-socket-based monitoring on an on-demand basis only.

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Devaraj, Harish, Tim Giffney, Adeline Petit, Mahtab Assadian, and Kean Aw. "The Development of Highly Flexible Stretch Sensors for a Robotic Hand." Robotics 7, no. 3 (September 11, 2018): 54. http://dx.doi.org/10.3390/robotics7030054.

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Demand for highly compliant mechanical sensors for use in the fields of robotics and wearable electronics has been constantly rising in recent times. Carbon based materials, and especially, carbon nanotubes, have been widely studied as a candidate piezoresistive sensing medium in these devices due to their favorable structural morphology. In this paper three different carbon based materials, namely carbon black, graphene nano-platelets, and multi-walled carbon nanotubes, were utilized as large stretch sensors capable of measuring stretches over 250%. These stretch sensors can be used in robotic hands/arms to determine the angular position of joints. Analysis was also carried out to understand the effect of the morphologies of the carbon particles on the electromechanical response of the sensors. Sensors with gauge factors ranging from one to 1.75 for strain up to 200% were obtained. Among these sensors, the stretch sensors with carbon black/silicone composite were found to have the highest gauge factor while demonstrating acceptable hysteresis in most robotic hand applications. The highly flexible stretch sensors demonstrated in this work show high levels of compliance and conformance making them ideal candidates as sensors for soft robotics.

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Garcia, Lourdes, Genevieve Kerns, Kaitlin O’Reilley, Omolola Okesanjo, Jacob Lozano, Jairaj Narendran, Conor Broeking, et al. "The Role of Soft Robotic Micromachines in the Future of Medical Devices and Personalized Medicine." Micromachines 13, no. 1 (December 26, 2021): 28. http://dx.doi.org/10.3390/mi13010028.

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Developments in medical device design result in advances in wearable technologies, minimally invasive surgical techniques, and patient-specific approaches to medicine. In this review, we analyze the trajectory of biomedical and engineering approaches to soft robotics for healthcare applications. We review current literature across spatial scales and biocompatibility, focusing on engineering done at the biotic-abiotic interface. From traditional techniques for robot design to advances in tunable material chemistry, we look broadly at the field for opportunities to advance healthcare solutions in the future. We present an extracellular matrix-based robotic actuator and propose how biomaterials and proteins may influence the future of medical device design.

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Yilmaz, Ayse Feyza, Fidan Khalilbayli, Kadir Ozlem, Hend M. Elmoughni, Fatma Kalaoglu, Asli Tuncay Atalay, Gökhan Ince, and Ozgur Atalay. "Effect of Segment Types on Characterization of Soft Sensing Textile Actuators for Soft Wearable Robots." Biomimetics 7, no. 4 (December 19, 2022): 249. http://dx.doi.org/10.3390/biomimetics7040249.

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The use of textiles in soft robotics is gaining popularity because of the advantages textiles offer over other materials in terms of weight, conformability, and ease of manufacture. The purpose of this research is to examine the stitching process used to construct fabric-based pneumatic bending actuators as well as the effect of segment types on the actuators’ properties when used in soft robotic glove applications. To impart bending motion to actuators, two techniques have been used: asymmetry between weave and weft knit fabric layers and mechanical anisotropy between these two textiles. The impacts of various segment types on the actuators’ grip force and bending angle were investigated further. According to experiments, segmenting the actuator with a sewing technique increases the bending angle. It was discovered that actuators with high anisotropy differences in their fabric combinations have high gripping forces. Textile-based capacitive strain sensors are also added to selected segmented actuator types, which possess desirable properties such as increased grip force, increased bending angle, and reduced radial expansion. The sensors were used to demonstrate the controllability of a soft robotic glove using a closed-loop system. Finally, we demonstrated that actuators integrated into a soft wearable glove are capable of grasping a variety of items and performing various grasp types.

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37

Sun, Yuanxi, Hao Tang, Yuntao Tang, Jia Zheng, Dianbiao Dong, Xiaohong Chen, Fuqiang Liu, et al. "Review of Recent Progress in Robotic Knee Prosthesis Related Techniques: Structure, Actuation and Control." Journal of Bionic Engineering 18, no. 4 (July 2021): 764–85. http://dx.doi.org/10.1007/s42235-021-0065-4.

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AbstractAs the essential technology of human-robotics interactive wearable devices, the robotic knee prosthesis can provide above-knee amputations with functional knee compensations to realize their physical and psychological social regression. With the development of mechanical and mechatronic science and technology, the fully active knee prosthesis that can provide subjects with actuating torques has demonstrated a better wearing performance in slope walking and stair ascent when compared with the passive and the semi-active ones. Additionally, with intelligent human-robotics control strategies and algorithms, the wearing effect of the knee prosthesis has been greatly enhanced in terms of stance stability and swing mobility. Therefore, to help readers to obtain an overview of recent progress in robotic knee prosthesis, this paper systematically categorized knee prostheses according to their integrated functions and introduced related research in the past ten years (2010–2020) regarding (1) mechanical design, including uniaxial, four-bar, and multi-bar knee structures, (2) actuating technology, including rigid and elastic actuation, and (3) control method, including mode identification, motion prediction, and automatic control. Quantitative and qualitative analysis and comparison of robotic knee prosthesis-related techniques are conducted. The development trends are concluded as follows: (1) bionic and lightweight structures with better mechanical performance, (2) bionic elastic actuation with energy-saving effect, (3) artificial intelligence-based bionic prosthetic control. Besides, challenges and innovative insights of customized lightweight bionic knee joint structure, highly efficient compact bionic actuation, and personalized daily multi-mode gait adaptation are also discussed in-depth to facilitate the future development of the robotic knee prosthesis.

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38

Zhou, Xinyi, and Wenhan Cao. "Flexible and Stretchable Carbon-Based Sensors and Actuators for Soft Robots." Nanomaterials 13, no. 2 (January 12, 2023): 316. http://dx.doi.org/10.3390/nano13020316.

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In recent years, the emergence of low-dimensional carbon-based materials, such as carbon dots, carbon nanotubes, and graphene, together with the advances in materials science, have greatly enriched the variety of flexible and stretchable electronic devices. Compared with conventional rigid devices, these soft robotic sensors and actuators exhibit remarkable advantages in terms of their biocompatibility, portability, power efficiency, and wearability, thus creating myriad possibilities of novel wearable and implantable tactile sensors, as well as micro-/nano-soft actuation systems. Interestingly, not only are carbon-based materials ideal constituents for photodetectors, gas, thermal, triboelectric sensors due to their geometry and extraordinary sensitivity to various external stimuli, but they also provide significantly more precise manipulation of the actuators than conventional centimeter-scale pneumatic and hydraulic robotic actuators, at a molecular level. In this review, we summarize recent progress on state-of-the-art flexible and stretchable carbon-based sensors and actuators that have creatively added to the development of biomedicine, nanoscience, materials science, as well as soft robotics. In the end, we propose the future potential of carbon-based materials for biomedical and soft robotic applications.

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39

Alves, Pedro V. A., Patricia D. M. Plentz, and Marcelo A. C. Fernandes. "Proposal of a Real-Time Test Platform for Tactile Internet Systems." Sensors 22, no. 24 (December 15, 2022): 9865. http://dx.doi.org/10.3390/s22249865.

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This work aimed to develop a real-time test platform for systems associated with the tactile internet area. The proposal comprises a master device, a communication channel and a slave device. The master device is a tactile glove (wearable technology) that works as a tactile interface based on vibratory feedback. The master device can interact with virtual elements (local or remote). The Matlab/Simulink environment and a robotics toolbox form the communication channel and the slave device. The communication channel introduces a bidirectional connection of variable latency, and the slave device is defined as a robotic phantom omni manipulator emulated in Matlab/Simulink. The virtual robotic manipulator, the slave device, can generate different types of tactile sensations in the tactile glove, that is, in the master device. The platform can model tactile sensations such as coarse roughness, fine roughness, smoothness, dripping and softness. The proposed platform presented adequate results and can be used to test various algorithms and methods correlated to the tactile internet.

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40

Buckner, Trevor L., R. Adam Bilodeau, Sang Yup Kim, and Rebecca Kramer-Bottiglio. "Roboticizing fabric by integrating functional fibers." Proceedings of the National Academy of Sciences 117, no. 41 (September 28, 2020): 25360–69. http://dx.doi.org/10.1073/pnas.2006211117.

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Fabrics are ubiquitous materials that have conventionally been passive assemblies of interlacing, inactive fibers. However, the recent emergence of active fibers with actuation, sensing, and structural capabilities provides the opportunity to impart robotic function into fabric substrates. Here we present an implementation of robotic fabrics by integrating functional fibers into conventional fabrics using typical textile manufacturing techniques. We introduce a set of actuating and variable-stiffness fibers, as well as printable in-fabric sensors, which allows for robotic closed-loop control of everyday fabrics while remaining lightweight and maintaining breathability. Finally, we demonstrate the utility of robotic fabrics through their application to an active wearable tourniquet, a transforming and load-bearing deployable structure, and an untethered, self-stowing airfoil.

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41

Škulj, Gašper, Rok Vrabič, and Primož Podržaj. "A Wearable IMU System for Flexible Teleoperation of a Collaborative Industrial Robot." Sensors 21, no. 17 (August 31, 2021): 5871. http://dx.doi.org/10.3390/s21175871.

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Increasing the accessibility of collaborative robotics requires interfaces that support intuitive teleoperation. One possibility for an intuitive interface is offered by wearable systems that measure the operator’s movement and use the information for robot control. Such wearable systems should preserve the operator’s movement capabilities and, thus, their ability to flexibly operate in the workspace. This paper presents a novel wireless wearable system that uses only inertial measurement units (IMUs) to determine the orientation of the operator’s upper body parts. An algorithm was developed to transform the measured orientations to movement commands for an industrial collaborative robot. The algorithm includes a calibration procedure, which aligns the coordinate systems of all IMUs, the operator, and the robot, and the transformation of the operator’s relative hand motions to the movement of the robot’s end effector, which takes into account the operator’s orientation relative to the robot. The developed system is demonstrated with an example of an industrial application in which a workpiece needs to be inserted into a fixture. The robot’s motion is compared between the developed system and a standard robot controller. The results confirm that the developed system is intuitive, allows for flexible control, and is robust enough for use in industrial collaborative robotic applications.

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42

Mo, Yiting, Aiguo Song, and Huanhuan Qin. "A Lightweight Accessible Wearable Robotic Interface for Bimanual Haptic Manipulations." IEEE Transactions on Haptics 15, no. 1 (January 1, 2022): 85–90. http://dx.doi.org/10.1109/toh.2021.3137902.

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43

Prattichizzo, Domenico, Maria Pozzi, Tommaso Lisini Baldi, Monica Malvezzi, Irfan Hussain, Simone Rossi, and Gionata Salvietti. "Human augmentation by wearable supernumerary robotic limbs: review and perspectives." Progress in Biomedical Engineering 3, no. 4 (September 17, 2021): 042005. http://dx.doi.org/10.1088/2516-1091/ac2294.

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44

Ribas Neto, Antonio, Matheus Del Porto, Julio Fajardo, Victor Ferman, and Eric Rohmer. "An Underactuated Wearable Robotic Glove Driven by Myoelectric Control Input." Brazilian Applied Science Review 4, no. 3 (2020): 1492–507. http://dx.doi.org/10.34115/basrv4n3-060.

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45

Hollander, Kevin W., and Thomas G. Sugar. "Design of Lightweight Lead Screw Actuators for Wearable Robotic Applications." Journal of Mechanical Design 128, no. 3 (July 29, 2005): 644–48. http://dx.doi.org/10.1115/1.2181995.

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A wearable robot is a controlled and actuated device that is in direct contact with its user. As such, the implied requirements of this device are that it must be portable, lightweight, and most importantly safe. To achieve these goals, an actuator with a good “power to weight” ratio, good mechanical efficiency, good “strength to weight” ratio, and that is safe is desired. The design of the standard lead screw does not normally perform well in any of these categories. The typical lead screw has low pitch angles and large radii, thereby yielding low mechanical efficiencies and heavy weight. However, using the design procedure outlined in this text, both efficiency and weight are improved; thus yielding a lead screw system with performances that rival human muscle. The result of an example problem reveals a feasible lead screw design that has a power to weight ratio of 277W∕kg, approaching that of the dc motor driving it, at 312W∕kg, as well as a mechanical efficiency of 0.74, and a maximum strength to weight ratio of 11.3kN∕kg(1154kgf∕kg).

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46

Krausz, Nili E., and Levi J. Hargrove. "A Survey of Teleceptive Sensing for Wearable Assistive Robotic Devices." Sensors 19, no. 23 (November 28, 2019): 5238. http://dx.doi.org/10.3390/s19235238.

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Teleception is defined as sensing that occurs remotely, with no physical contact with the object being sensed. To emulate innate control systems of the human body, a control system for a semi- or fully autonomous assistive device not only requires feedforward models of desired movement, but also the environmental or contextual awareness that could be provided by teleception. Several recent publications present teleception modalities integrated into control systems and provide preliminary results, for example, for performing hand grasp prediction or endpoint control of an arm assistive device; and gait segmentation, forward prediction of desired locomotion mode, and activity-specific control of a prosthetic leg or exoskeleton. Collectively, several different approaches to incorporating teleception have been used, including sensor fusion, geometric segmentation, and machine learning. In this paper, we summarize the recent and ongoing published work in this promising new area of research.

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Ariyanto, Mochammad, Joga D. Setiawan, Munadi, Rifky Ismail, and Zainal Arifin. "Development of 6 DOF Supernumerary Robotic Fingers Integrated with 3D Animation." MATEC Web of Conferences 159 (2018): 02044. http://dx.doi.org/10.1051/matecconf/201815902044.

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The paper presents the development of wearable robot called supernumerary robotic fingers (SRF) that can be integrated with 3D Animation. The robot comprises of two parts, robotic finger (RF) and robotic thumb (RT). RF is located next to little finger, and RT is located next to the thumb. The robot is driven by modified glove sensor. 3D CAD model is exported into SimMechanics for 3D Animation purpose under MATLAB/Simulink environment. Forward kinematics of the robot is studied using SimMechanics and the trajectory of each robotic fingertip will be calculated. Based on the experimental result, the robot and its 3D animation can be operated by a healthy person in real time. The robot can assist in object manipulation with ten-inch tablet using single human hand.

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48

Wang, Sun’an, Binquan Zhang, Zhenyuan Yu, and Yu’ang Yan. "Differential Soft Sensor-Based Measurement of Interactive Force and Assistive Torque for a Robotic Hip Exoskeleton." Sensors 21, no. 19 (September 30, 2021): 6545. http://dx.doi.org/10.3390/s21196545.

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With the emerging of wearable robots, the safety and effectiveness of human-robot physical interaction have attracted extensive attention. Recent studies suggest that online measurement of the interaction force between the robot and the human body is essential to the aspects above in wearable exoskeletons. However, a large proportion of existing wearable exoskeletons monitor and sense the delivered force and torque through an indirect-measure method, in which the torque is estimated by the motor current. Direct force/torque measuring through low-cost and compact wearable sensors remains an open problem. This paper presents a compact soft sensor system for wearable gait assistance exoskeletons. The contact force is converted into a voltage signal by measuring the air pressure within a soft pneumatic chamber. The developed soft force sensor system was implemented on a robotic hip exoskeleton, and the real-time interaction force between the human thigh and the exoskeleton was measured through two differential soft chambers. The delivered torque of the hip exoskeleton was calculated based on a characterization model. Experimental results suggested that the sensor system achieved direct force measurement with an error of 10.3 ± 6.58%, and torque monitoring for a hip exoskeleton which provided an understanding for the importance of direct force/torque measurement for assistive performance. Compared with traditional rigid force sensors, the proposed system has several merits, as it is compact, low-cost, and has good adaptability to the human body due to the soft structure.

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Chander, Harish, Reuben F. Burch, Purva Talegaonkar, David Saucier, Tony Luczak, John E. Ball, Alana Turner, et al. "Wearable Stretch Sensors for Human Movement Monitoring and Fall Detection in Ergonomics." International Journal of Environmental Research and Public Health 17, no. 10 (May 19, 2020): 3554. http://dx.doi.org/10.3390/ijerph17103554.

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Wearable sensors are beneficial for continuous health monitoring, movement analysis, rehabilitation, evaluation of human performance, and for fall detection. Wearable stretch sensors are increasingly being used for human movement monitoring. Additionally, falls are one of the leading causes of both fatal and nonfatal injuries in the workplace. The use of wearable technology in the workplace could be a successful solution for human movement monitoring and fall detection, especially for high fall-risk occupations. This paper provides an in-depth review of different wearable stretch sensors and summarizes the need for wearable technology in the field of ergonomics and the current wearable devices used for fall detection. Additionally, the paper proposes the use of soft-robotic-stretch (SRS) sensors for human movement monitoring and fall detection. This paper also recapitulates the findings of a series of five published manuscripts from ongoing research that are published as Parts I to V of “Closing the Wearable Gap” journal articles that discuss the design and development of a foot and ankle wearable device using SRS sensors that can be used for fall detection. The use of SRS sensors in fall detection, its current limitations, and challenges for adoption in human factors and ergonomics are also discussed.

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Vélez-Guerrero, Manuel Andrés, Mauro Callejas-Cuervo, and Stefano Mazzoleni. "Artificial Intelligence-Based Wearable Robotic Exoskeletons for Upper Limb Rehabilitation: A Review." Sensors 21, no. 6 (March 18, 2021): 2146. http://dx.doi.org/10.3390/s21062146.

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Processing and control systems based on artificial intelligence (AI) have progressively improved mobile robotic exoskeletons used in upper-limb motor rehabilitation. This systematic review presents the advances and trends of those technologies. A literature search was performed in Scopus, IEEE Xplore, Web of Science, and PubMed using the PRISMA (Preferred Reporting Items for Systematic Reviews and Meta-Analyses) methodology with three main inclusion criteria: (a) motor or neuromotor rehabilitation for upper limbs, (b) mobile robotic exoskeletons, and (c) AI. The period under investigation spanned from 2016 to 2020, resulting in 30 articles that met the criteria. The literature showed the use of artificial neural networks (40%), adaptive algorithms (20%), and other mixed AI techniques (40%). Additionally, it was found that in only 16% of the articles, developments focused on neuromotor rehabilitation. The main trend in the research is the development of wearable robotic exoskeletons (53%) and the fusion of data collected from multiple sensors that enrich the training of intelligent algorithms. There is a latent need to develop more reliable systems through clinical validation and improvement of technical characteristics, such as weight/dimensions of devices, in order to have positive impacts on the rehabilitation process and improve the interactions among patients, teams of health professionals, and technology.

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