Active/Passive Switching Control Framework for Assistive Devices with Variable Stiffness Actuator

Kaneishi, Daisuke; Matthew, Robert Peter; Tomizuka, Masayoshi

doi:10.23919/acc.2019.8814676

Cited by 1 publication

(1 citation statement)

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“…We believe that the integration of passive systems such as springs, clutches, and brakes in active devices could be beneficial in the decrease of energy consumption and weight of the device. Although only preliminary results were found in this review, this suggestion can be supported by literature on upper limb stiff exoskeletons that include passive elements in their design [9,82,83].…”

Section: Discussionmentioning

confidence: 53%

Upper limb soft robotic wearable devices: a systematic review

Bardi

Gandolla

Braghin

et al. 2022

J NeuroEngineering Rehabil

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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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Section: Discussionmentioning

confidence: 53%