A survey on soft lower limb cable-driven wearable robots without rigid links and joints

Khomami, Asghar Mahmoudi; Najafi, Farid

doi:10.1016/j.robot.2021.103846

Cited by 34 publications

(15 citation statements)

References 104 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…To the best of our knowledge, this exosuit is the first to provide active PF and passive DF assistance 53–55 . The passive DF assistance ensures that in any electronic failures, the system is still able to maintain gait stability as an ankle‐foot orthosis 56 …”

Section: Discussionmentioning

confidence: 99%

“…To the best of our knowledge, this exosuit is the first to provide active PF and passive DF assistance. [53][54][55] The passive DF assistance ensures that in any electronic failures, the system is still able to maintain gait stability as an ankle-foot orthosis. 56 The assistance profile of the ankle exosuit in this study was the same for all participants and was based on the assistance profile from prior studies 16,17 (Figure S1).…”

Section: Community Exosuit Systemmentioning

confidence: 99%

See 1 more Smart Citation

Design and evaluation of an independent 4‐week, exosuit‐assisted, post‐stroke community walking program

Nuckols

Chang

Kim

et al. 2023

Annals of the New York Academy of Sciences

View full text Add to dashboard Cite

Chronic impairment in the paretic ankle following stroke often requires that individuals use compensatory patterns such as asymmetric propulsion to achieve effective walking speeds needed for community engagement. Ankle exosuit assistance can provide ankle biomechanical benefit in the lab, but such environments inherently limit the amount of practice available. Community walking studies without exosuits can provide massed practice and benefit walking speed but are limited in their ability to assist proper mechanics. In this study, we combined the positive aspects of community training with those of exosuit assistance. We developed and evaluated a community Robotic Exosuit Augmented Locomotion (cREAL) program. Four participants in the chronic stage of stroke independently used our community ankle exosuit for walking in the community 3–5 days/week for 4 weeks. We performed lab evaluations before and after the 4‐week program. Two participants significantly improved their unassisted paretic propulsion by an average of 27% after the program and walked on average 4001 steps/day more in the week following the program. Despite the small number of participants, this study provides preliminary evidence for the potential of exosuits to augment gait training and rehabilitation in the community.

show abstract

Section: Discussionmentioning

confidence: 99%

Section: Community Exosuit Systemmentioning

confidence: 99%

Design and evaluation of an independent 4‐week, exosuit‐assisted, post‐stroke community walking program

Nuckols

Chang

Kim

et al. 2023

Annals of the New York Academy of Sciences

View full text Add to dashboard Cite

show abstract

“…Soft wearable knee and ankle robots have been used to assist contraction/extension leg movements and also with foot movements in dorsiflexion, plantarflexion, inversion and eversion orientations [42,43]. Exosuits using textiles and Boden cables are some of the most advanced and lightweight devices for assistance to the hip, leg and ankle-foot while walking on flat surfaces [44][45][46]. This technology has been explored with soft gloves, wrist and elbows for reaching, grasping, holding and manipulating objects, but also to potentially assist with buttoning and feeding (holding cutlery) [47][48][49][50].…”

Section: Soft Materials In Wearable Roboticsmentioning

confidence: 99%

“…Wearable assistive robots with soft structure. Lower limb assistive robots: (A) softinflatable knee exosuit for rehabilitation [42] (Licensed under (CC BY 4.0)), (B) soft exosuit for hip assistance [44] (Reproduced with permission from Elsevier), (C) multi-articular hip and knee exosuit [46] (Reproduced with permission from Elsevier). Upper limb assistive robots: (D) soft robotic glove for assistance at home [47] (Reproduced with permission from Elsevier), (E) soft wearable wrist for rehabilitation [48] (Licensed under (CC BY 4.0)), (F) soft robotic elbow sleeve for assistance [49] (Licensed under (CC BY 4.0)).…”

Section: Soft Materials In Wearable Roboticsmentioning

confidence: 99%

Wearable Assistive Robotics: A Perspective on Current Challenges and Future Trends

Martinez-Hernandez

Metcalfe

Assaf

et al. 2021

Sensors

View full text Add to dashboard Cite

Wearable assistive robotics is an emerging technology with the potential to assist humans with sensorimotor impairments to perform daily activities. This assistance enables individuals to be physically and socially active, perform activities independently, and recover quality of life. These benefits to society have motivated the study of several robotic approaches, developing systems ranging from rigid to soft robots with single and multimodal sensing, heuristics and machine learning methods, and from manual to autonomous control for assistance of the upper and lower limbs. This type of wearable robotic technology, being in direct contact and interaction with the body, needs to comply with a variety of requirements to make the system and assistance efficient, safe and usable on a daily basis by the individual. This paper presents a brief review of the progress achieved in recent years, the current challenges and trends for the design and deployment of wearable assistive robotics including the clinical and user need, material and sensing technology, machine learning methods for perception and control, adaptability and acceptability, datasets and standards, and translation from lab to the real world.

show abstract

“…Pin-jointed structures have the advantages of lightweight, elegant appearance, and high controllability. Therefore, they are widely used in practical engineering such as building structures, bionic engineering and aerospace engineering (Khomami and Najafi, 2021; Chen and Dong, 2013; Puig et al, 2010). The initial stresses of members in pin-jointed structures are always caused by prestress or external loads.…”

Section: Introductionmentioning

confidence: 99%

Area-loss effect analysis of pin-jointed structures

Deng

Samy

Yuan

2023

Advances in Structural Engineering

View full text Add to dashboard Cite

Corrosion will cause cross-sectional area loss of steel members, which will lead to redistribution of internal force and affect the performance of structures. In this paper, a generalized formula for the internal force variation of pin-jointed structures due to variation of external force, cross-sectional area, and initial length is derived. The area-loss sensitivity coefficient ( ASC) and the area-loss evenness coefficient ( AEC) based on statistical measures are then defined. By calculating these two coefficients, the influence of single member’s area-loss on the behavior of the structure as well as the evenness of internal force variation are evaluated. Besides, a method to determine the area-loss limit of pin-jointed structures is proposed based on the structural reliability theory and mathematical nonlinear programming. According to the above process, the effect of members’ area loss on structural properties is analyzed without complicated numerical approaches such as FEM, and then the safety of corroded structures is assessed preliminarily. The proposed method is verified by two numerical examples, and provides a convenient tool for pre-manufacturing, maintenance during service life, and structural health monitoring of pin-jointed structures.

show abstract

A survey on soft lower limb cable-driven wearable robots without rigid links and joints

Cited by 34 publications

References 104 publications

Design and evaluation of an independent 4‐week, exosuit‐assisted, post‐stroke community walking program

Design and evaluation of an independent 4‐week, exosuit‐assisted, post‐stroke community walking program

Wearable Assistive Robotics: A Perspective on Current Challenges and Future Trends

Area-loss effect analysis of pin-jointed structures

Contact Info

Product

Resources

About