Exoskeletons: A challenge for development

Abstract

The development of exoskeletons is currently a lengthy process full of challenges. We are proposing a framework to accelerate the process and make the resulting exoskeletons more user-centered. The needed accomplishments in science are described in an effort to lay the foundation for future research projects. Since the early 2000s, exoskeletons have been discussed as an emerging technology in industrial, medical, or military applications. Those systems are designed to support people during manual tasks. At first, those systems lacked broad acceptance. Many models found their niches in ongoing developments and more diverse systems entering the market. There are still applications that are in dire need of such assistance. Due to the lack of experience with body-worn robotics, the development of such systems has been shaped by trial and error. The lack of legacy products results in longer development times. In this paper, a process to generate a framework is presented to display the required research to enable future exoskeleton designers. Owing to their proximity to the user’s body, exoskeletons are highly complex systems that need sophisticated subsystems, such as kinematic, control, interaction design, or actuators, to be accepted by users. Due to the wide variety of fields and high user demands, a synchronized multidisciplinary effort is necessary. To achieve this, a process to develop a modular framework for exoskeleton design is proposed. It focuses on user- and use-case-centered solutions for matching kinematics, actuation, and control. To ensure the usefulness of the framework, an evaluation of the incorporated solutions is required.

Exosuit with telescopic link for training and rehabilitating horsemen

“…The performance evaluation issues of training machines are described in the papers [16][17][18][19][20][21][22][23][24]. The article [25] describes the process of creating structures used for displaying the required studies that will help the exoskeleton designers. This study involves developing mathematical model of a sportsmen training machine in the form of exosuit with controlled links, and controlling its motion based on the programmed motion control method.…”

Lessons Learned from Investigating Robotics-Based, Human-like Testing of an Upper-Body Exoskeleton

“…Despite significant efforts in developing exoskeleton devices [7], there remains a need for more standardized testing [8]. Currently, testing procedures predominantly occur within the development cycle, tailored to the specific characteristics of individual exoskeleton designs [4,9]. However, systematic testing is crucial, specifically due to the close humanmachine interaction and various wearing effects [10,11].…”

Systematic Evaluation of a Knee Exoskeleton Misalignment Compensation Mechanism Using a Robotic Dummy Leg

“…Moreover, the inclusion of human subjects can often raise ethical issues, especially in early development stages, when devices generally need fast and continuous development-verification iterations. Human involvement can be partially avoided through pHEI modelling, where interaction is predicted from springs [10], spring-damper [11] or more complex digital models (DHM) [12]. However, current models still require validation with real-life measurements, while the variety and complexity of the human body remains an actual challenge.…”