Wearable robots are undergoing a disruptive transition, from the rigid machines that populated science-fiction world in early 1980s to lightweight robotic apparel, hardly distinguishable our daily clothes. In less than decade of development, soft suits have achieved important results human motor assistance and augmentation. this article, we start by giving definition proposing taxonomy classify existing systems. We then critically review modes actuation, physical human–robot interface...

Soft wearable robots (exosuits), being lightweight, ergonomic and low power-demanding, are attractive for a variety of applications, ranging from strength augmentation in industrial scenarios, to medical assistance people with motor impairments. Understanding how these devices affect the physiology mechanics human movements is fundamental quantifying their benefits drawbacks, assessing suitability different applications guiding continuous design refinement. We present novel exosuit...

Despite advances in mechatronic design, the widespread adoption of wearable robots for supporting human mobility has been hampered by 1) ergonomic limitations rigid exoskeletal structures and 2) lack human-machine interfaces (HMIs) capable sensing musculoskeletal states translating them into robot-control commands. We have developed a framework that combines, first time, model-based HMI with soft arm exosuit potential to address key current HMIs robots. The proposed was tested on six healthy...

Impaired proprioception severely affects the control of gross and fine motor function. However, clinical assessment proprioceptive deficits its impact on function has been difficult to elucidate. Recent advances in haptic robotic interfaces designed for sensorimotor rehabilitation enabled use such devices function.This study evaluated feasibility a wrist robot system determine discrimination thresholds two different DoFs wrist. Specifically, we sought accomplish three aims: first, establish...

Stretchable strain sensors, as the soft mechanical interface, provide key information of systems for healthcare monitoring, rehabilitation assistance, exoskeletal devices, and robotics. sensors based on 2D flat film have been widely developed to monitor in-plane force applied within plane where sensor is placed. However, comprehensively obtain feedback, capability detect out-of-plane force, caused by interaction outside senor located, needed. Herein, a 3D-structured stretchable reported...

In the field of rehabilitation robotics, transparent, precise and intuitive control hand exoskeletons still represents a substantial challenge. particular, use compliant systems often leads to trade-off between lightness material flexibility, precision. this letter, we present compliant, actuated glove with scheme detectthe user's motion intent, which is estimated by machine learning algorithm based on muscle activity. Six healthy study participants used in three assistance conditions during...

In 1991, a novel robot named MIT-MANUS was introduced as test bed to study the potential of using robots assist in and quantify neurorehabilitation motor function. It new modality therapy, offering highly backdrivable experience with soft stable feel for user. proved an excellent fit shoulder elbow rehabilitation stroke patients, showing reduction impairment clinical trials well over 300 patients. The greatest observed group muscles exercised. This suggests need additional rehabilitate other...

Despite distal arm impairment after brain injury is an extremely disabling consequence of neurological damage, most studies on robotic therapy are mainly focused recovery proximal upper limb motor functions, routing the major efforts in rehabilitation to shoulder and elbow joints. In present study we developed a novel therapeutic protocol aimed at restoring wrist functionality chronic stroke patients. A haptic three DoFs (degrees freedom) robot has been used quantify assist forearm articular...

This study investigated how Parkinson's disease alters haptic perception and the underlying mechanisms of somatosensory sensorimotor integration. Changes in sensitivity acuity (the abilities to detect discriminate between stimuli) due were systematically quantified contrasted performance healthy older young adults. Using a robotic force environment, virtual contours various curvatures presented. Participants explored these with their hands indicated verbally whether they could or two...

The development of a portable assistive device to aid patients affected by neuromuscular disorders has been the ultimate goal robots since late 1960s. Despite significant advances in recent decades, traditional rigid exoskeletons are constrained limited portability, safety, ergonomics, autonomy and, most all, cost. In this study, we present design and control soft, textile-based exosuit for assisting elbow flexion/extension hand open/close. We describe model-based design, characterisation...

The use of soft materials to transmit power the human body has numerous advantages, amongst which safety and kinematic transparency stand out. In previous work we showed that a tethered fabric-based exosuit for elbow joint, driven by an electric motor through Bowden cable transmission, reduces muscular effort associated with flexion movements working in parallel its wearer's muscles. We herein propose refined design suit present untethered control architecture gravity compensation...

The need for a means of assistance in human grasping, to compensate weakness or augment performance, is well documented. An appealing new way doing so through soft, wearable robots that work parallel with the muscles. In this paper we present design and modelling tendon-driving unit empowers wearable, soft glove. Being portability one our main objectives, use only 1 motor move 8 degrees freedom hand. To achieve an underactuation strategy based on hand's first postural synergy, which explains...

In recent years soft wearable exoskeletons, commonly referred to as exosuits, have been widely exploited in human assistance. Hence, a shared approach for systematic and exhaustive control architecture is extremely important. Most of the exosuits developed so far employ bowden cable transmission conveniently place actuator away from end-effector. While having many advantages this actuation strategy presents some intrinsic limitations caused by presence nonlinearities, such friction backlash...

This study examined the trainability of proprioceptive sense and explored relationship between proprioception motor learning. With vision blocked, human learners had to perform goal-directed wrist movements relying solely on proprioceptive/haptic cues reach several haptically specified targets. One group received additional somatosensory movement error feedback in form vibro-tactile applied skin forearm. We used a haptic robotic device for implemented 3-day training regimen that required...

The intention-detection strategy used to drive an exosuit is fundamental evaluate the effectiveness and acceptability of device. Yet, current literature on wearable soft robotics lacks evidence comparative performance different control approaches for online intention-detection. In present work, we compare two complementary controllers a robotic suit, previously formulated tested by our group; model-based myoelectric ( <italic xmlns:mml="http://www.w3.org/1998/Math/MathML"...

Physically demanding work is still common in western countries, with large proportions of the workforce that are exposed for more than a quarter their working time to tiring postures or repetitive tasks: shoulder one main body areas susceptible work-related musculo-skeletal disorders. Recent advancements assistive technology have provided new instruments promote safety and reduce workload. Colloquially referred as occupational exoskeletons (OEs), these wearable devices usually spring-loaded,...

In the last two decades robot training in neuromotor rehabilitation was mainly focused on shoulder-elbow movements. Few devices were designed and clinically tested for coordinated movements of wrist, which are crucial achieving even basic level motor competence that is necessary carrying out ADLs (activities daily life). Moreover, most systems therapy use point-to-point reaching tend to emphasize pathological tendency stroke patients break down goal-directed into a number jerky...

Exoskeletons targeting the upper limb have been broadly developed both for rehabilitation and to augment user's physical performance. Generally, they are rigid robotic interfaces characterized by a non negligible mechanical impedance at end effector consequently perceived limbs as an external body. The frame, moreover, adds kinematic constrains natural joint kinematics which may result in discomfort ultimately pain. concept of soft wearable exoskeleton (or exosuit) has tested lower hand...

Proprioception has a crucial role in promoting or hindering motor learning. In particular, an intact position sense strongly correlates with the chances of recovery after stroke. A great majority neurological patients present both dysfunctions and impairments kinesthesia, but traditional robot virtual reality training techniques focus either recovering functions assessing proprioceptive deficits. An open challenge is to implement effective reliable tests protocols for proprioception that go...

Several neurodevelopmental disorders and brain injuries in children have been associated with proprioceptive dysfunction that will negatively affect their movement. Unfortunately, there is lack of reliable objective clinical examination protocols our current knowledge how proprioception evolves typically developing still sparse.Using a robotic exoskeleton, we investigated acuity the wrist group 49 healthy (8-15 years), 40 young adults. Without vision participants performed an ipsilateral...

Myoelectric signals offer significant insights in interpreting the motion intention and extent of effort involved performing a movement, with application prostheses, orthosis exoskeletons. Feature extraction plays vital role, follows two approaches: EMG synergy features. More recently, muscle based features are being increasingly explored, since it simplifies dimensionality control, considered to be more robust signal variations. Another important aspect myoelectrically controlled devices is...

Soft exosuits are a promising solution for the assistance and augmentation of human motor abilities in industrial field, where use more symbiotic wearable robots can avoid excessive worker fatigue improve quality work. One challenges design soft is choice right amount softness to balance load transfer, ergonomics, weight. This article presents cable-driven based wrist exosuit flexion with an ergonomic reinforced glove. The flexible highly compliant three-dimensional (3D)-printed plastic...