Deep and insightful interactions with the data are a prerequisite for qualitative data interpretation, in particular, in the generation of grounded theory. The researcher must also employ imaginative insight as they attempt to make sense of the data and generate understanding and theory. Design research is also dependent upon the researchers' creative interpretation of the data. To support the research process, designers surround themselves with data, both as a source of empirical information and inspiration to trigger imaginative insights. Constant interaction with the data is integral to design research methodology. This article explores a design researchers approach to qualitative data analysis, in particular, the use of traditional tools such as colored pens, paper, and sticky notes with the CAQDAS software, NVivo for analysis, and the associated implications for rigor. A design researchers' approach which is grounded in a practice which maximizes researcher data interaction in a variety of learning modalities ensures the analysis process is rigorous and productive. Reflection on the authors' research analysis process, combined with consultation with the literature, would suggest digital analysis software packages such as NVivo do not fully scaffold the analysis process. They do, however, provide excellent data management and retrieval facilities that support analysis and write-up. This research finds that coding using traditional tools such as colored pens, paper, and sticky notes supporting data analysis combined with digital software packages such as NVivo supporting data management offer a valid and tested analysis method for grounded theory generation. Insights developed from exploring a design researchers approach may benefit researchers from other disciplines engaged in qualitative analysis.

SummaryWearable devices are fast evolving to address mobility and autonomy needs of elderly people who would benefit from physical assistance. Recent developments in soft robotics provide important opportunities to develop soft exoskeletons (also called exosuits) to enable both physical assistance and improved usability and acceptance for users. The XoSoft EU project has developed a modular soft lower limb exoskeleton to assist people with low mobility impairments. In this paper, we present the design of a soft modular lower limb exoskeleton to improve person’s mobility, contributing to independence and enhancing quality of life. The novelty of this work is the integration of quasi-passive elements in a soft exoskeleton. The exoskeleton provides mechanical assistance for subjects with low mobility impairments reducing energy requirements between 10% and 20%. Investigation of different control strategies based on gait segmentation and actuation elements is presented. A first hip–knee unilateral prototype is described, developed, and its performance assessed on a post-stroke patient for straight walking. The study presents an analysis of the human–exoskeleton energy patterns by way of the task-based biological power generation. The resultant assistance, in terms of power, was 10.9% ± 2.2% for hip actuation and 9.3% ± 3.5% for knee actuation. The control strategy improved the gait and postural patterns by increasing joint angles and foot clearance at specific phases of the walking cycle.

In this article, we review the literature on quantitative sensory testing of deep somatic pain by means of computerized cuff pressure algometry (CPA) in search of pressure-related safety guidelines for wearable soft exoskeleton and robotics design. Most pressure-related safety thresholds to date are based on interface pressures and skin perfusion, although clinical research suggests the deep somatic tissues to be the most sensitive to excessive loading. With CPA, pain is induced in deeper layers of soft tissue at the limbs. The results indicate that circumferential compression leads to discomfort at ∼16-34 kPa, becomes painful at ∼20-27 kPa, and can become unbearable even below 40 kPa.

Assistive robots are emerging as technologies that enable older adults to perform activities of daily living with autonomy. Exoskeletons are a subset of assistive robots that can support mobility. Perceptions and acceptance of these technologies require understanding in a user-centred design context to ensure optimum experience and adoption by as broad a spectrum of older adults as possible. The adoption and use of assistive robots for activities of daily living (ADL) by older adults is poorly understood. Older adult acceptance of technology is affected by numerous factors, such as perceptions and stigma associated with dependency and ageing. Assistive technology (AT) models provide theoretical frameworks that inform decision-making in relation to assistive devices for people with disabilities. However, technology acceptance models (TAMs) are theoretical explanations of factors that influence why users adopt some technologies and not others. Recent models have emerged specifically describing technology acceptance by older adults. In the context of exoskeleton design, these models could influence design approaches. This article will discuss a selection of TAMs, displaying a chronology that highlights their evolution, and two prioritised TAMs-Almere and the senior technology acceptance model (STAM)-that merit consideration when attempting to understand acceptance and use of assistive robots by older adults.

There is a growing international interest in developing soft wearable robotic devices to improve mobility and daily life autonomy as well as for rehabilitation purposes. Usability, comfort and acceptance of such devices will affect their uptakes in mainstream daily life. The XoSoft EU project developed a modular soft lower-limb exoskeleton to assist people with low mobility impairments. This paper presents the bio-inspired design of a soft, modular exoskeleton for lower limb assistance based on pneumatic quasi-passive actuation. The design of a modular reconfigurable prototype and its performance are presented. This actuation centers on an active mechanical element to modulate the assistance generated by a traditional passive component, in this case an elastic belt. This study assesses the feasibility of this type of assistive device by evaluating the energetic outcomes on a healthy subject during a walking task. Human-exoskeleton interaction in relation to task-based biological power assistance and kinematics variations of the gait are evaluated. The resultant assistance, in terms of overall power ratio () between the exoskeleton and the assisted joint, was 26.6% for hip actuation, 9.3% for the knee and 12.6% for the ankle. The released maximum power supplied on each articulation, was 113.6% for the hip, 93.2% for the knee, and 150.8% for the ankle.