Soft wearable assistive robotics: exosuits and supernumerary limbs

doi:10.1049/pbce108e_ch10

Cited by 6 publications

(1 citation statement)

References 91 publications

(103 reference statements)

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“…In research, the mechanical design (Islam et al, 2017;Viteckova et al, 2018;Del Sanchez-Villamañan et al, 2019;Jamwal et al, 2020;Kermavnar et al, 2021;Rodríguez-Fernández et al, 2021;Zhang et al, 2021;Tijjani et al, 2022) and the suitability of different control strategies for adaptive gait assistance (Jamwal et al, 2020;Baud et al, 2021) is still a major focus. Fewer reviews focus on different control algorithms and sensing (Massardi et al, 2022;Sun et al, 2022), human-machine interface (Giusino et al, 2020) or give a more generalized overview of the topic of exoskeletons (Masia et al, 2018;La Tejera et al, 2021). Some authors call for more synchronized research between different fields and regulatory institutions (Chen et al, 2020;Fosch-Villaronga and Özcan, 2020;Kapsalyamov et al, 2020).…”

Section: State Of the Artmentioning

confidence: 99%

Exoskeletons: A challenge for development

2023

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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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Section: State Of the Artmentioning

confidence: 99%

Exoskeletons: A challenge for development

2023

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Human Assistance and Augmentation with Wearable Soft Robotics: a Literature Review and Perspectives

et al. 2021

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Purpose of ReviewWearable soft robotics has demonstrated many unique capabilities in human assistance and augmentation. This paper discusses the recent trends and remaining challenges in designing soft actuators, soft sensors, and controllers for wearable soft robots.Recent Findings Different actuation mechanisms for wearable systems were investigated in this review. We include a synopsis on the design of soft sensors and algorithms for sensor fusion and discuss the recent trends for sensing simultaneous deformations and implementing machine learning techniques for soft sensor fusion. We also present a discussion on layered controller design and the evaluation metrics for experiments with healthy and impaired subjects. SummaryWe review three commonly used soft actuation mechanisms and provide their characteristics, in which the balance between material stiffness and functionality is still a challenge. We present the advances in soft sensor design and discuss the challenges in fusion algorithms for wearable soft sensors, such as inter-subject adaptability and sensor location movement. We also discuss the model-based and model-free controller design together with the evaluation criteria for healthy and impaired users, in which autonomous operation for personalized assistance is still an open challenge for controller design.

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