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Soft wearable assistive robotics: exosuits and supernumerary limbs

Soft wearable assistive robotics: exosuits and supernumerary limbs

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The intrinsic soft nature of compliant supernumerary limbs and exosuits makes them appealing candidates for assisting human movements, with potential applications in healthcare, human augmentation and logistics. In the following chapter, we describe the technology used in exosuits and supernumerary limbs for assistance of activities of daily living, with emphasis on aiding grasping and flexion/ extension of the elbow joint. We discuss the mechanical design principles of such devices, detail the control paradigms that can be used for intention-detection and present the design and evaluation of cutaneous interfaces used for force feedback rendering. Tests on healthy and impaired subjects highlight that exosuits and supernumerary limbs are potential cost-effective and intrinsically safe solutions for increasing the capabilities of healthy subjects and improving the quality of life of subjects suffering from motor disorders.

Chapter Contents:

  • Abstract
  • 10.1 Introduction
  • 10.2 Exosuits
  • 10.2.1 Design and actuation
  • 10.2.2 Control
  • High-level controller
  • Mid-level controller: adaptive backlash compensation
  • Low-level controller: friction compensation and position control
  • 10.2.3 Evaluation
  • 10.2.4 Discussion
  • 10.3 Supernumerary limbs
  • 10.3.1 Design and actuation
  • 10.3.2 Control
  • 10.3.3 The hRing
  • 10.3.4 The frontalis muscle cap
  • 10.3.5 Evaluation
  • 10.3.6 Performance evaluation
  • 10.3.7 Tests with chronic stroke patients
  • 10.3.8 Discussion
  • Acknowledgments
  • References

Inspec keywords: manipulators; medical robotics; biomechanics; force feedback; control system synthesis; handicapped aids

Other keywords: human movements; logistics; grasping; flexion/ extension; exosuits; soft wearable assistive robotics; motor disorders; mechanical design principles; force feedback rendering; cutaneous interfaces; compliant supernumerary limbs; human augmentation; intrinsic soft nature

Subjects: Biological and medical control systems; Control system analysis and synthesis methods; Spatial variables control; Manipulators

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