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3 pages, 181 KiB

Open AccessEditorial

Special Issue on Exoskeleton Robotic Systems

by Ionut Daniel Geonea and Cristian Petre Copilusi

Appl. Sci. 2023, 13(17), 9788; https://doi.org/10.3390/app13179788 - 30 Aug 2023

Viewed by 645

Abstract

Over the past 20 years, the therapies available in rehabilitation clinics have improved substantially, aided by robotic rehabilitation systems, which have seen rapid progress and increased performance [...] Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

Research

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13 pages, 3852 KiB

Open AccessArticle

Investigating Inter-Day Variations in the Physical Effects of Exoskeletons: Requirements for Long-Term Biomechanical Studies

by Julia Riemer, Thomas Jaitner and Sascha Wischniewski

Appl. Sci. 2023, 13(11), 6483; https://doi.org/10.3390/app13116483 - 25 May 2023

Cited by 3 | Viewed by 949

Abstract

Exoskeletons potentially reduce physical strain on workers. However, studies investigating the long-term effects of exoskeletons in the workplace are rare, not least because demonstrating physical long-term impacts faces several challenges, including the collection of reliable biomechanical data with the exoskeleton. By examining the [...] Read more.

Exoskeletons potentially reduce physical strain on workers. However, studies investigating the long-term effects of exoskeletons in the workplace are rare, not least because demonstrating physical long-term impacts faces several challenges, including the collection of reliable biomechanical data with the exoskeleton. By examining the potential impact of using an exoskeleton on inter-day measurements, we can provide valuable insights into the suitability of long-term studies. Therefore, this study aims to investigate the inter-day variation in muscle activity (MA) and kinematics of the trunk and legs during lifting, carrying, walking, and static bending with and without a passive back exoskeleton. The majority of results show no significant differences in inter-day variation. However, we found minor significant unilateral variation in knee and ankle kinematics when using the BSE during the lifting, carrying, and walking tasks, as well as in MA of M. biceps femoris when measuring without the BSE during the lifting tasks. Cohen’s d showed small effect sizes, ranging from −0.0045 ≤ d ≤ 0.384 for all significant p-values. While we classify the observed significant differences as minor, it is still crucial to consider day-to-day variations in long-term studies. However, by implementing high levels of standardization in study designs, including precise exoskeleton fitting, consistent assistance level, familiarization with measurement systems, and standardized working tasks, the impact of the exoskeleton on inter-day measurements can be minimized. Additional field studies are necessary to validate our findings in real work conditions. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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15 pages, 3381 KiB

Open AccessArticle

The Energy Consumption and Robust Case Torque Control of a Rehabilitation Hip Exoskeleton

by Rabé Andersson and Niclas Björsell

Appl. Sci. 2022, 12(21), 11104; https://doi.org/10.3390/app122111104 - 2 Nov 2022

Cited by 3 | Viewed by 1528

Abstract

Gait disorders, muscle weakness, spinal cord injuries (SCIs) and other work-related disorders have increased the need for rehabilitation exoskeletons—specifically, for the hip because a huge percentage of mechanical power comes from the hip joint. However, realising a lightweight rehabilitation hip exoskeleton for mobility [...] Read more.

Gait disorders, muscle weakness, spinal cord injuries (SCIs) and other work-related disorders have increased the need for rehabilitation exoskeletons—specifically, for the hip because a huge percentage of mechanical power comes from the hip joint. However, realising a lightweight rehabilitation hip exoskeleton for mobility and at-home use with reliable control is challenging. The devices developed are restricted by a joint actuator and energy source design and tend to have various uncertainties. Thus, this study tested the robustness of four optimal controller cases in a simulation-based environment. We sought to determine whether the most robust optimal controller consumed less energy and demonstrated better performance in tracking the desired signal. The robustness of the optimal cases was tested with the hip torque signals of healthy subjects. The number of sit-to-stand (STS) instances and the walking distance at various speeds were calculated. The results showed that the most robust case controller was more energy efficient for STS, but not for walking activity. Furthermore, this study provides compelling evidence that various optimal controllers have different degrees of robustness and effects on energy consumption. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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19 pages, 21282 KiB

Open AccessArticle

Preliminary Biomechanical Evaluation of a Novel Exoskeleton Robotic System to Assist Stair Climbing

by Max Böhme, Hans-Peter Köhler, Robert Thiel, Jens Jäkel, Johannes Zentner and Maren Witt

Appl. Sci. 2022, 12(17), 8835; https://doi.org/10.3390/app12178835 - 2 Sep 2022

Cited by 7 | Viewed by 3261

Abstract

A novel exoskeleton robotic system was developed to assist stair climbing. This active demonstrator consists of a motor with a cable system, various sensors, and a control system with a power supply. The objective of this preliminary study is a biomechanical evaluation of [...] Read more.

A novel exoskeleton robotic system was developed to assist stair climbing. This active demonstrator consists of a motor with a cable system, various sensors, and a control system with a power supply. The objective of this preliminary study is a biomechanical evaluation of the novel system to determine its effectiveness in use. For this purpose, three test persons were biomechanically investigated, who performed stair ascents and descents with and without the exoskeleton. Kinematics, kinetics, and muscle activity of the knee extensors were measured. The measured data were biomechanically simulated in order to evaluate the characteristics of joint angles, moments, and reaction forces. The results show that the new exoskeleton assists both the ascent and the descent according to the measured surface electromyography (sEMG) signals, as the knee extensors are relieved by an average of 19.3%. In addition, differences in the interaction between the test persons and the system were found. This could be due to a slightly different operation of the assisting force or to the different influence of the system on the kinematics of the users. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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40 pages, 18700 KiB

Open AccessArticle

Analysis of Dynamic Behavior of ParReEx Robot Used in Upper Limb Rehabilitation

by Daniela Tarnita, Ionut Daniel Geonea, Doina Pisla, Giuseppe Carbone, Bogdan Gherman, Nicoleta Tohanean, Paul Tucan, Cristian Abrudan and Danut Nicolae Tarnita

Appl. Sci. 2022, 12(15), 7907; https://doi.org/10.3390/app12157907 - 7 Aug 2022

Cited by 4 | Viewed by 1636

Abstract

This paper presents a dynamic analysis of the ParReEx multibody mechanism, which has been designed for human wrist joint rehabilitation. The starting point of the research is a virtual prototype of the ParReEx multibody mechanism. This model is used to simulate the dynamics [...] Read more.

This paper presents a dynamic analysis of the ParReEx multibody mechanism, which has been designed for human wrist joint rehabilitation. The starting point of the research is a virtual prototype of the ParReEx multibody mechanism. This model is used to simulate the dynamics of the multibody mechanism using ADAMS in three simulation scenarios: (a) rigid kinematic elements without friction in joints, (b) rigid kinematic elements with friction in joints, and (c) kinematic elements as deformable solids with friction in joints. In all three cases, the robot is used by a virtual patient in the form of a mannequin. Results such as the connecting forces in the kinematic joints and the torques necessary to operate the ParReEx robot modules are obtained by dynamic simulation in MSC.ADAMS. The torques obtained by numerical simulation are compared with those obtained experimentally. Finite element structural optimization (FEA) of the flexion/extension multibody mechanism module is performed. The results demonstrate the operational safety of the ParReEx multibody mechanism, which is structurally capable of supporting the external loads to which it is subjected. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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18 pages, 3698 KiB

Open AccessArticle

The Design of a Smart Lower-Limb Prosthesis Supporting People with Transtibial Amputation—A Data Acquisition System

by Cristina Floriana Pană, Liviu Florin Manta, Ionel Cristian Vladu, Ștefan Irinel Cismaru, Florina Luminița Petcu (Besnea), Dorian Cojocaru and Nicu Bîzdoacă

Appl. Sci. 2022, 12(13), 6722; https://doi.org/10.3390/app12136722 - 2 Jul 2022

Cited by 5 | Viewed by 3145

Abstract

For people with amputated lower limbs, it is imperative to make high-performance prostheses that reproduce, as accurately as possible, the functions of the amputated limb. In this case, a preliminary study of the lower limbs from a kinematic and dynamic point of view [...] Read more.

For people with amputated lower limbs, it is imperative to make high-performance prostheses that reproduce, as accurately as possible, the functions of the amputated limb. In this case, a preliminary study of the lower limbs from a kinematic and dynamic point of view is necessary. This paper proposes a prosthesis design and a system for acquiring the information needed to determine the stepping phase kinematic and dynamic parameters of the legs. This system consists of a sensory system attached to the legs and a acquisition data unit built around a microcontroller. The sensory system is based on a sensory system for determining the weight distribution on the sole, made of resistive pressure sensors. The sensory system will be subjected to measurement repeatability and homogeneity tests to evaluate and validate the accuracy and error of the proposed solution. The data obtained by the sensory system is transmitted in real-time, via wi-fi, to a computer system for interpretation. After processing and interpreting the data using standard data sets for comparison, the position of the legs, the type of gait and the phase of movement can be determined. Constructively, the system is configurable and can be adapted to any person, male or female, regardless of shoe size. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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15 pages, 2624 KiB

Open AccessArticle

Energy-to-Mass Ratio—A Novel Selection Criterion of Pneumatic Motors Used for the Actuation of Wearable Assistive Devices

by Andrea Deaconescu and Tudor Deaconescu

Appl. Sci. 2022, 12(13), 6459; https://doi.org/10.3390/app12136459 - 25 Jun 2022

Cited by 3 | Viewed by 1116

Abstract

The requirements to be met by a wearable assistive device are compactness, lightweight and energy efficiency. While the literature discusses the construction and performance of such devices, no information is provided as to the criteria to be applied in selecting such an actuator, [...] Read more.

The requirements to be met by a wearable assistive device are compactness, lightweight and energy efficiency. While the literature discusses the construction and performance of such devices, no information is provided as to the criteria to be applied in selecting such an actuator, capable of satisfying the mentioned conditions. Ensuring the high autonomy of a wearable assistive device requires actuators that can store a large quantity of energy in a small as possible volume, for example, actuators with a high energy density. This paper presents a comparative study of the performance of two types of pneumatic actuators: single-acting cylinders and pneumatic muscles, respectively, and offers information that will enable users to select an optimum solution. The quality indicators considered in conducting the comparative study are size, mass, the developed force and the energy-to-mass ratio. A method is proposed to determine the energy developed by the motors over the entire stroke; based on that, the energy-to-mass ratio is subsequently calculated. This indicator is a valuable tool made available to designers of wearable assistive devices. The conclusion yielded by the study asserts that while pneumatic muscles have larger radial and axial dimensions, they present benefits as to the developed forces and the energy-to-mass ratios. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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30 pages, 23558 KiB

Open AccessArticle

Design Approaches of an Exoskeleton for Human Neuromotor Rehabilitation

by Cristian Copilusi, Sorin Dumitru, Ionut Geonea, Leonard Gherghe Ciurezu and Nicolae Dumitru

Appl. Sci. 2022, 12(8), 3952; https://doi.org/10.3390/app12083952 - 13 Apr 2022

Cited by 5 | Viewed by 1809

Abstract

This paper addresses a design for an exoskeleton used for human locomotion purposes in cases of people with neuromotor disorders. The reason for starting this research was given by the development of some intelligent systems for walking recovery involved in a new therapy [...] Read more.

This paper addresses a design for an exoskeleton used for human locomotion purposes in cases of people with neuromotor disorders. The reason for starting this research was given by the development of some intelligent systems for walking recovery involved in a new therapy called stationary walking therapy. This therapy type will be used in this research case, through a robotic system specially designed for functional walking recovery. Thus, the designed robotic system structure will have a patient lifting/positioning mechanism, a special exoskeleton equipped with sensors and actuators, a treadmill for walking, and a command and control unit. The exoskeleton’s lower limbs will have six orthotic devices. Thus, the exoskeleton’s lower limbs’ motions and orthoses angle variations will be generated by healthy human subjects on the treadmill with the possibility of memorizing these specific motions for obtaining one complete gait cycle. After this, the memorized motions will be performed to a patient with neuromotor disorders for walking recovery programs. The design core is focused on two planar-parallel mechanisms implemented at the knee and ankle joints of each leg’s exoskeleton. Thus, numerical simulations for the design process were carried out to validate the engineering feasibility of the proposed leg exoskeleton. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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28 pages, 12983 KiB

Open AccessArticle

Dynamic Analysis of a Spherical Parallel Robot Used for Brachial Monoparesis Rehabilitation

by Ionut Daniel Geonea, Daniela Tarnita, Doina Pisla, Giuseppe Carbone, Alexandru Bolcu, Paul Tucan, Marius Georgescu and Danut Nicolae Tarniță

Appl. Sci. 2021, 11(24), 11849; https://doi.org/10.3390/app112411849 - 13 Dec 2021

Cited by 9 | Viewed by 2618

Abstract

This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematically and dynamically by [...] Read more.

This paper presents studies on the dynamic analysis of the ASPIRE robot, which was designed for the medical recovery of brachial monoparesis. It starts from the virtual model of the existing version of the ASPIRE robot, which is analysed kinematically and dynamically by numerical simulations using the MSC.ADAMS software. For this purpose, this paper presents theoretical aspects regarding the kinematics and dynamics of the markers attached to the flexible bodies built in a specifically developed MSC.ADAMS model. Three simulation hypotheses are considered: (a) rigid kinematic elements without friction in couplings, (b) rigid kinematic elements with friction in couplings, and (c) kinematic elements as deformable solids with friction in couplings. Experimental results obtained by using the physical prototype of ASPIRE are presented. Results such as the connecting forces in the kinematic joints and the torques necessary to operate the ASPIRE robot modules have been obtained by dynamic simulation in MSC.ADAMS and compared with those determined experimentally. The comparison shows that the allure of the variation curve of the moment obtained by simulation is similar to that obtained experimentally. The difference between the maximum experimental value and that obtained by simulation is less than 1%. A finite element analysis (FEA) of the structurally optimized flexion/extension robot module is performed. The results demonstrate the operational safety of the ASPIRE robot, which is structurally capable of supporting the stresses to which it is subjected. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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Review

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17 pages, 1091 KiB

Open AccessReview

HAL Training in Spinal Cord Injured Patients: A Narrative Review of 10 Years Experience

by Alexis Brinkemper, Dennis Grasmücke, Emre Yilmaz, Thomas Armin Schildhauer and Mirko Aach

Appl. Sci. 2023, 13(3), 1369; https://doi.org/10.3390/app13031369 - 20 Jan 2023

Cited by 3 | Viewed by 2109

Abstract

To provide a summary and overview of the use of Hybrid Assistive Limb in spinal cord injured patients over the past 10 years. A review of the literature was performed via Web of Science and PubMed using the search terms “Hybrid assistive limb” [...] Read more.

To provide a summary and overview of the use of Hybrid Assistive Limb in spinal cord injured patients over the past 10 years. A review of the literature was performed via Web of Science and PubMed using the search terms “Hybrid assistive limb” or “HAL“ or “wearable robot“ or “exoskeleton” and “SCI” or “spinal cord injury” by two of the authors. Relevant articles were then studied in full text. Our review of the literature found 21 articles that met the inclusion criteria of this narrative review including 344 participants. Articles were sorted into two general categories: (1) clinical trials, and (2) single-case or two-case reports. The vast majority of patients improved functionally, showing increased walking distances, walking speeds, and endurance. In addition, a variety of other advances were described, such as temporary decrease in spasticity, improvement in bladder and bowel management, pain reduction, and change in muscle activity. Even though there is no uniform application of HAL training in people living with SCI the current study situation suggests that many patients could benefit from this innovative training within their means. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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58 pages, 3579 KiB

Open AccessReview

The Impact of COVID on Lower-Limb Exoskeleton Robotic System Patents—A Review

by Cristina Floriana Pană, Virginia Maria Rădulescu, Daniela Maria Pătrașcu-Pană, Florina Luminița Petcu (Besnea), Ionuț Cristian Reșceanu, Ștefan Irinel Cismaru, Andrei Trășculescu and Nicu Bîzdoacă

Appl. Sci. 2022, 12(11), 5393; https://doi.org/10.3390/app12115393 - 26 May 2022

Cited by 2 | Viewed by 3797

Abstract

In recent decades, the field of physical rehabilitation, with the help of robotic systems that aid the population of any age with locomotor difficulties, has been evolving rapidly. Several robotic exoskeleton systems of the lower limbs have been proposed in the patent literature [...] Read more.

In recent decades, the field of physical rehabilitation, with the help of robotic systems that aid the population of any age with locomotor difficulties, has been evolving rapidly. Several robotic exoskeleton systems of the lower limbs have been proposed in the patent literature and some are even commercially available. Given the above, we are asking ourselves at the end of the COVID-19 pandemic: how much has this pandemic affected both the publication of patents and the application of new ones? How has new patents’ publication volume or application in robotic exoskeleton systems changed? We hypothesize that this pandemic has caused a reduction in the volume of new applications and possibly publications. We compare pandemic analysis and the last decade’s analysis to answer these questions. In this study, we used a set of statistical tests to see if there were any statistically significant changes. Our results show that the pandemic had at least one effect on applying for new patents based on the information analyzed from the three databases examined. Full article

(This article belongs to the Special Issue Exoskeleton Robotic Systems)

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