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Most published Xplore authors for Wearable Robots

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Xplore Articles related to Wearable Robots

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Design, Fabrication and Verification of Continuous Passive Motion Equipment for the Index Finger

2018 25th National and 3rd International Iranian Conference on Biomedical Engineering (ICBME), 2018

This paper presents the design and fabrication of a polymer-based tendon- driven wearable continuous passive machine for the hand. Passive means the machine is moving the hand and the patients do not actively move his hand. Providing relaxing feeling and easy wearing comfort for people, flexion and extension motions and other biomechanical consideration are the key points to this design ...


A Method of Motion Information Overall Sensing of Wearable Robot Based on Virtual Inertial Measurement Unit

2019 4th International Conference on Control and Robotics Engineering (ICCRE), 2019

A machine learning based method is studied for motion information comprehensive sensing of medical rehabilitation wearable robot. Taking use of human kinematics model to detect sample data, the model combines a type of visual-geometry-group-network and a long-short-term-memory neural network model (VGG-LSTM) to generate virtual inertial measurement unit. It is meant to realize the method of motion information overall sensing with ...


A Human-Robot Interface System for WalkON Suit: A Powered Exoskeleton for Complete Paraplegics

IECON 2018 - 44th Annual Conference of the IEEE Industrial Electronics Society, 2018

In the development of wearable robots for complete paraplegia, human-robot interaction is one of the most important considerations. In most of those robots for complete paraplegia, users should use crutches to help balance the human-robot system. People with impaired sensory nerves of legs should be able to check their foot position to ensure contact when they walk with wearable robots. ...


Design Space of Multipurpose Daily Worn Snake-Shaped Robotic Appendages

2019 IEEE International Conference on Pervasive Computing and Communications Workshops (PerCom Workshops), 2019

Multipurpose Supernumerary Robotic Limbs (SRLs) are an emerging form of wearable robots that can augment our daily physical and digital interactions. Due to their genericity, designing this form of wearables encompass a number of interweaved challenges within multiple research domains. Therefore, my dissertation's main objective is to contribute with a design space that enables designing and evaluating multipurpose SRLs. I ...


Angel-suit: a Modularized Lower-limb Wearable Robot for Assistance of People with Partially Impaired Walking Ability

2019 Wearable Robotics Association Conference (WearRAcon), 2019

The design of an assistive robot for people with partially impaired walking ability demands unique requirements, such as minimal mechanical impedance and high back-drivability, as well as high power density. Mechanical parts must be ergonomically designed, such that users can use the devices for a long period of time without discomfort. The motor control function of the incomplete paraplegics is ...


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Educational Resources on Wearable Robots

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IEEE-USA E-Books

  • Design, Fabrication and Verification of Continuous Passive Motion Equipment for the Index Finger

    This paper presents the design and fabrication of a polymer-based tendon- driven wearable continuous passive machine for the hand. Passive means the machine is moving the hand and the patients do not actively move his hand. Providing relaxing feeling and easy wearing comfort for people, flexion and extension motions and other biomechanical consideration are the key points to this design in considering the cases of practical use. Thus by using silicone hospital environmental hygiene provided and design features permit adjustment for different hand sizes and protect users from injury. It uses one motor for the index finger and an under-actuation mechanism to grasp various objects. Finally, performance and simultaneous movement of human and robot were verified by comparing the trajectory of mechanism, desired trajectory obtained from healthy hand and simulation. Variance and error came to an acceptable range according to the Ashworth scale.

  • A Method of Motion Information Overall Sensing of Wearable Robot Based on Virtual Inertial Measurement Unit

    A machine learning based method is studied for motion information comprehensive sensing of medical rehabilitation wearable robot. Taking use of human kinematics model to detect sample data, the model combines a type of visual-geometry-group-network and a long-short-term-memory neural network model (VGG-LSTM) to generate virtual inertial measurement unit. It is meant to realize the method of motion information overall sensing with a relatively small number of inertial measurement units. Furthermore, how to balance the complexity of machine learning model and the approximation accuracy of virtual inertial units becomes the focus. By analyzing the effects of VGG and layers of LSTM on the approximation accuracy of virtual inertial information and the utilization rate of computer system resources, the optimal synthesis of the neural network model structure. It both satisfies the comprehensive index of performance and system complexity optimization. The neural network structure lays a foundation for the engineering application of motion information comprehensive sensing of the wearable robot.

  • A Human-Robot Interface System for WalkON Suit: A Powered Exoskeleton for Complete Paraplegics

    In the development of wearable robots for complete paraplegia, human-robot interaction is one of the most important considerations. In most of those robots for complete paraplegia, users should use crutches to help balance the human-robot system. People with impaired sensory nerves of legs should be able to check their foot position to ensure contact when they walk with wearable robots. Therefore, the user interface of the wearable robot should be easy to be controlled with using crutches and be able to monitor its state. In this paper, the user interface method of the wearable robot, WalkON Suit, for complete paraplegia is introduced. The switches embedded crutches allow the user to change the operation mode without assistance. Moreover, the user can monitor operating status using the see-through display on glasses. The experimental results of walking trials are also introduced.

  • Design Space of Multipurpose Daily Worn Snake-Shaped Robotic Appendages

    Multipurpose Supernumerary Robotic Limbs (SRLs) are an emerging form of wearable robots that can augment our daily physical and digital interactions. Due to their genericity, designing this form of wearables encompass a number of interweaved challenges within multiple research domains. Therefore, my dissertation's main objective is to contribute with a design space that enables designing and evaluating multipurpose SRLs. I carry out a series of case studies to derive needed design dimensions, with emphasis on designing for multipurpose use, social acceptance, and cohesive user experiences. The design space would structure this domain, enabling future researchers to generate and evaluate new case studies, as well as identifying and addressing challenges to advance this emerging research area.

  • Angel-suit: a Modularized Lower-limb Wearable Robot for Assistance of People with Partially Impaired Walking Ability

    The design of an assistive robot for people with partially impaired walking ability demands unique requirements, such as minimal mechanical impedance and high back-drivability, as well as high power density. Mechanical parts must be ergonomically designed, such that users can use the devices for a long period of time without discomfort. The motor control function of the incomplete paraplegics is not as robust as that of the normal, and thus the overall human body system becomes vulnerable to disturbances (i.e., external forces, inclinations, etc.) or model variations (i.e., loads, etc.). It is, however, still active, unlike complete paraplegic patients, and thus the robot must not generate any unexpected resistance to the voluntary motions of the incomplete paraplegics for the sake of minimal discomfort. This paper introduces a new wearable robot, called Angel-suit, particularly developed for assisting such people with partially impaired walking ability. The transparent assistance is achieved by series-elastic actuation mechanism. A case study of Angel-suit for a 11-years-old female patient with spina bifida is also briefly introduced in this paper.

  • Spine-Inspired Continuum Soft Exoskeleton for Stoop Lifting Assistance

    Back injuries are the most prevalent work-related musculoskeletal disorders and represent a major cause of disability and socio-economic problems. Although innovations in wearable robots aim to alleviate this hazard, the majority of existing exoskeletons are obtrusive because the rigid linkage design limits natural movement, thus causing ergonomic risk. Moreover, these existing systems are typically only suitable for one type of movement assistance, not ubiquitous for a wide variety of activities. To fill in this gap, this paper presents a new wearable robot design approach continuum soft exoskeleton. This wearable robot is unobtrusive and assists both squat and stoops while not impeding walking motion. To tackle the challenge of the unique anatomy of spine, our robot is conformal to human anatomy and it can reduce multiple types of forces along the human spine such as the spinae muscle force, shear, and compression force of the lumbar vertebrae. We derived kinematics and kinetics models of this mechanism and established an analytical biomechanics model of human-robot interaction. Quantitative analysis of disc compression force, disc shear force and muscle force was performed in simulation. We further developed a virtual impedance control strategy to deliver force control and compensate hysteresis of Bowden cable transmission. The feasibility of the prototype was experimentally tested on three healthy subjects. The root mean square error of force tracking is 6.63 N (3.3 % of the 200N peak force) and it demonstrated that it can actively control the stiffness to the desired value. This continuum soft exoskeleton represents a feasible solution with the potential to reduce back pain for multiple activities and multiple forces along the human spine.

  • Exploring Augmented Reality Interaction for Everyday Multipurpose Wearable Robots

    Multipurpose wearable robots are an emerging class of devices, which offer intriguing interaction potential. The interoperability of multipurpose wearable robots and other types of wearable devices remains largely uninvestigated. We take the first steps to bridge this gap by presenting a framework for integrating augmented reality (AR) and multipurpose wearable robots. Our framework uses the publisher-subscriber model to expose different robot functionalities as services on a network. These can be invoked by the AR system. This model is advantageous in coping with different robot morphologies and various interaction methods. We implemented a prototype system using our framework by integrating an AR head-mounted display (HMD) and a wrist-worn robot, and demonstrate four experiences utilizing our prototype solution: 1) Robot status display, 2) shape-changing menus, 3) a media player and 4) a robot pose controller. To evaluate our approach, we performed a user study, which gauged user impressions and usability of developed experiences. Results indicate that our approach was well received, though participants highlighted a number of challenges in AR tracking when interacting within some of the experiences. Lastly, we discuss limitations and future research direction for our project.

  • Gait Phase Recognition Based on A Wearable Depth Camera*

    Gait phase recognition is fundamental for the control of assistive lower-limb exoskeletons or prostheses. In this paper, we have proposed an innovative strategy to estimate the human walking gait phase by means of a wearable depth camera. The proposed system is composed by two subsystems: periodic depth signal extraction and adaptive oscillator-based gait phase estimation. Validation experiments have been implemented with four subjects. Each subject performed three free ground-level walking trials at his/her preferred speed. Results showed that the proposed system could provide an accurate gait phase estimation based on a stable and periodic gait-related depth signal. The promising performance is expected to enable a lower-limb wearable robot to provide more stable and effective assistance for daily walking tasks.

  • Modeling Walking Behavior of Powered Exoskeleton Based on Complex-Valued Neural Network

    This paper proposes walk pattern modeling for powered exoskeleton based on complex-valued neural network and reports its validity through experiments. We have been developing a powered exoskeleton to support workers at a nuclear power plant in time of hazard. The objective of the powered exoskeleton is to support a worker wearing a heavy radiation protection suit. We believe that conventional reactive power assist control based on EMG sensors is not feasible because they fail to measure the worker muscle activity robustly in the radiation protection suit as the worker has a lot of sweat in the high temperature and the humidity in the suit. Therefore, we have developed feed- forward control to assist the worker's motion based on the recognition of the worker's motion. Our previous studies use a simple k-nearest neighbor algorithm to model the motion of the powered exoskeleton, however, the algorithm is not for online learning and the estimated trajectory is not as smooth as we expected. This paper proposes a new modeling of walk motion of the powered exoskeleton based on a complex-valued neural network. The complex- valued neural network generally has good properties on learning speed and stability. This paper shows its validity for the modeling of powered exoskeleton's walk through experiments.

  • A Study on Real-Time Detection of Interacting Motion Intention for Perception-Assist with an Upper-Limb Wearable Power-Assist Robot

    Assisting aging or disabled people is a vital problem in today's world, due to various reasons. For this purpose, wearable power-assist robots have been proposed to assist their activities of daily living. However, in some cases there are users not only motor ability, but also sensory ability is deteriorated. In such case, the user might not be able to perceive the environment properly. As a result of that, the user might not be able to interact with other people correctly and timely. This paper presents a method to estimate interacting motion intention for perception-assist with an upper- limb wearable power-assist robot. In this method, interacting motion intention is identified using visual information taken from the wearable camera. Motions classifier is trained to identify a similar motion early to assist the perception of the user. An experiment is carried out to evaluate the effectiveness of the proposed method. A framework is suggested to identify the motion intention in real-time, by combing the existing descriptors, in terms of computational time and accuracy. Based on the results obtained by the visual information, user's motion is suggested to be modified by the power- assist wearable robot to assist the perception of the user.



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