Human–Robot Physical Interaction

Rocón, Eduardo; Ruiz, A. F.; Raya, Rafael; Schiele, A.; Pons, José L; Lois, Juan Manuel Belda; Poveda, Rakel; Vivas, Marciales; Moreno, Juan C.

doi:10.1002/9780470987667.ch5

Cited by 47 publications

(89 citation statements)

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“…End-effector-type devices are only attached to the foot and sometimes to the shank, which decreases the number of contact interfaces between human (skin) and robot, reducing the chances for skin irritation at the cuffs and straps in end-effector-type devices. In contrast, exoskeletons have a risk of misalignment between joint axes, which can lead to displacements of the cuff relative to the human limb, resulting in increased shear and pressure in the interface between cuff or strap and skin, which can contribute to soft tissue injuries (Rocon et al, 2008;Akiyama et al, 2015;Mao et al, 2015). The harness has been stated to be the cause of AEs in Lokomat (>5 AEs) (Chin et al, 2010;Carda et al, 2012), HAL (1 AE) (Nilsson et al, 2014), and LokoHelp (44 AEs) (Freivogel et al, 2008(Freivogel et al, , 2009 with 88% of the events related to the end-effectortype device LokoHelp.…”

Section: Soft Tissue-related Adverse Eventsmentioning

confidence: 99%

Occurrence and Type of Adverse Events During the Use of Stationary Gait Robots—A Systematic Literature Review

et al. 2020

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Robot-assisted gait training (RAGT) devices are used in rehabilitation to improve patients' walking function. While there are some reports on the adverse events (AEs) and associated risks in overground exoskeletons, the risks of stationary gait trainers cannot be accurately assessed. We therefore aimed to collect information on AEs occurring during the use of stationary gait robots and identify associated risks, as well as gaps and needs, for safe use of these devices. We searched both bibliographic and full-text literature databases for peer-reviewed articles describing the outcomes of stationary RAGT and specifically mentioning AEs. We then compiled information on the occurrence and types of AEs and on the quality of AE reporting. Based on this, we analyzed the risks of RAGT in stationary gait robots. We included 50 studies involving 985 subjects and found reports of AEs in 18 of those studies. Many of the AE reports were incomplete or did not include sufficient detail on different aspects, such as severity or patient characteristics, which hinders the precise counts of AE-related information. Over 169 device-related AEs experienced by between 79 and 124 patients were reported. Soft tissue-related AEs occurred most frequently and were mostly reported in end-effector-type devices. Musculoskeletal AEs had the second highest prevalence and occurred mainly in exoskeleton-type devices. We further identified physiological AEs including blood pressure changes that occurred in both exoskeleton-type and end-effector-type devices. Training in stationary gait robots can cause injuries or discomfort to the skin, underlying tissue, and musculoskeletal system, as well as unwanted blood pressure changes. The underlying risks for the most prevalent injury types include excessive pressure and shear at the interface between robot and human (cuffs/harness), as well as increased moments and forces applied to the musculoskeletal system likely caused by misalignments (between joint axes of robot and human). There is a need for more structured and complete recording and dissemination of AEs related to robotic gait training to increase knowledge on risks. With this information, appropriate mitigation strategies can and should be developed and implemented in RAGT devices to increase their safety.

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Section: Soft Tissue-related Adverse Eventsmentioning

confidence: 99%

Occurrence and Type of Adverse Events During the Use of Stationary Gait Robots—A Systematic Literature Review

et al. 2020

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“…The key issue in human-robot interaction is the capacity of the two systems for mutual adaptation. A zero interaction force controller is the simplest strategy when the target impedance of a wearable robot is calculated, in order to minimize the interaction force between the human and exoskeleton [17]. Figure 2 shows a block diagram representation of the dual zero force controller designed to achieve force tracking with minimal force interaction in both rotational directions.…”

Section: Dual Zero Force Controllermentioning

confidence: 99%

Robotic Assistance of Human Motion Using Active-Backdrivability on a Geared Electromagnetic Motor

Claros

Soto

Gordillo

et al. 2016

International Journal of Advanced Robotic Systems

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In this research, we describe an actuation and control system designed for geared electromagnetic motors, which is characterized by its simple implementation, fast response to external input loads, reliable human-machine interaction features, no need for previous setup or calibration from user to user and high portability due to the reduction of weight and space used. By the implementation of the proposed system, an electromagnetic motor can become a multitasking, wearable actuation system capable of: detecting the user's intentions regarding motion, tracking the limbs with minimal force interaction within a wide bandwidth and also providing controllable assistance and resistance forces to the user's movements, without the use of any biological signal. Validation of the proposed approach is shown by the construction of a powered orthosis for the knee, used to test the system's performance under real human motion conditions. The proposed system was tested on one healthy subject by measuring electromyographic levels both with and without the orthosis, under controlled flexion and extension cycles. Experimental results demonstrate the effectiveness of the proposed approach in detecting the user's intentions regarding motion, reducing and increasing muscular activity when configured for assistance and resistance, respectively, and also increasing the transparency of the actuation system when perfect tracking of the limbs is needed.

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“…In addition, advances in electronics, materials processing, and data transmission lead to a new generation of robotic devices [19], wearable sensors [20], and cloud services for healthcare [21]. As novel healthcare devices and applications emerge, more demands are placed on the sensors’ performance, since robust control strategies for wearable robots need a reliable sensor system [22]. In addition, with the components miniaturization, the sensor system must be as flexible and compact as possible [23].…”

Section: Introductionmentioning

confidence: 99%

Polymer Optical Fiber Sensors in Healthcare Applications: A Comprehensive Review

Leal‐Junior

Díaz

Avellar

et al. 2019

Sensors

170

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Advances in medicine and improvements in life quality has led to an increase in the life expectancy of the general population. An ageing world population have placed demands on the use of assistive technology and, in particular, towards novel healthcare devices and sensors. Besides the electromagnetic field immunity, polymer optical fiber (POF) sensors have additional advantages due to their material features such as high flexibility, lower Young’s modulus (enabling high sensitivity for mechanical parameters), higher elastic limits, and impact resistance. Such advantages are well-aligned with the instrumentation requirements of many healthcare devices and in movement analysis. Aiming at these advantages, this review paper presents the state-of-the-art developments of POF sensors for healthcare applications. A plethora of healthcare applications are discussed, which include movement analysis, physiological parameters monitoring, instrumented insoles, as well as instrumentation of healthcare robotic devices such as exoskeletons, smart walkers, actuators, prostheses, and orthosis. This review paper shows the feasibility of using POF sensors in healthcare applications and, due to the aforementioned advantages, it is possible to envisage a further widespread use of such sensors in this research field in the next few years.

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Human–Robot Physical Interaction

Cited by 47 publications

References 0 publications

Occurrence and Type of Adverse Events During the Use of Stationary Gait Robots—A Systematic Literature Review

Occurrence and Type of Adverse Events During the Use of Stationary Gait Robots—A Systematic Literature Review

Robotic Assistance of Human Motion Using Active-Backdrivability on a Geared Electromagnetic Motor

Polymer Optical Fiber Sensors in Healthcare Applications: A Comprehensive Review

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