Kinematics, Actuation, and Sensing Architectures for Rehabilitation and Assistive Robotics

Sierra, David; Arciniegas-Mayag, Luis; Ramos, Orion; Maldonado, Juan; Múnera, Marcela; Cifuentes, Carlos A.

doi:10.1007/978-3-030-79630-3_2

Cited by 2 publications

(2 citation statements)

References 83 publications

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“…In 2022, Tiboni et al [21] presented a review on sensors and actuation technologies in exoskeletons. Sierra et al [22] presented kinematics, actuation, and sensing architectures for rehabilitation and assistive robotics. Net'uková et al [23] presented the state of the art of lower limb exoskeleton sensors.…”

Section: Introductionmentioning

confidence: 99%

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Patent Review of Lower Limb Rehabilitation Robotic Systems by Sensors and Actuation Systems Used

Pană

Popescu

Rădulescu

2023

Sensors

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Robotic systems for lower limb rehabilitation are essential for improving patients’ physical conditions in lower limb rehabilitation and assisting patients with various locomotor dysfunctions. These robotic systems mainly integrate sensors, actuation, and control systems and combine features from bionics, robotics, control, medicine, and other interdisciplinary fields. Several lower limb robotic systems have been proposed in the patent literature; some are commercially available. This review is an in-depth study of the patents related to robotic rehabilitation systems for lower limbs from the point of view of the sensors and actuation systems used. The patents awarded and published between 2013 and 2023 were investigated, and the temporal distribution of these patents is presented. Our results were obtained by examining the analyzed information from the three public patent databases. The patents were selected so that there were no duplicates after several filters were used in this review. For each patent database, the patents were analyzed according to the category of sensors and the number of sensors used. Additionally, for the main categories of sensors, an analysis was conducted depending on the type of sensors used. Afterwards, the actuation solutions for robotic rehabilitation systems for upper limbs described in the patents were analyzed, highlighting the main trends in their use. The results are presented with a schematic approach so that any user can easily find patents that use a specific type of sensor or a particular type of actuation system, and the sensors or actuation systems recommended to be used in some instances are highlighted.

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Section: Introductionmentioning

confidence: 99%

“…Figure22. Distribution of patents on the Lens platform, according to the types of sensors used and depending on the actuating system.…”

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confidence: 99%

Patent Review of Lower Limb Rehabilitation Robotic Systems by Sensors and Actuation Systems Used

Pană

Popescu

Rădulescu

2023

Sensors

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Socially assistive walker for daily living assistance in older adults

Sierra M.,

Harris,

Múnera

et al. 2024

Front. Robot. AI

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IntroductionThis paper addresses the growing healthcare needs of an ageing population and the lack of advanced technologies with social capabilities that are cost effective, user friendly, and readily adopted. In response to this motivation, a socially assistive walker is designed to provide physical and cognitive support in activities of daily living for older adults.MethodsPhysical and cognitive support is provided by walker’s structure, sensors, and feedback interfaces to assist users daily living activities, as well as, in navigating environment safely and efficiently. The walker’s design arises from semi-structured interviews conducted with ageing experts, leading to the development of two levels or modes of social interaction, namely low and high interaction.Results and discussionIn a cohort of 14 adults, the study found the device easy to use regardless of the interaction mode, with 78.5% expressing a preference for the version featuring embodiment, verbal feedback, and more proactive cues (p< 0.05). The results also prompted ideas and suggestions for new designs based on insights gleaned from the user. This research contributes to the field of socially assistive robotics by offering an example of a user centred approach to address the healthcare challenges an ageing population poses.

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Kinematics, Actuation, and Sensing Architectures for Rehabilitation and Assistive Robotics

Cited by 2 publications

References 83 publications

Patent Review of Lower Limb Rehabilitation Robotic Systems by Sensors and Actuation Systems Used

Patent Review of Lower Limb Rehabilitation Robotic Systems by Sensors and Actuation Systems Used

Socially assistive walker for daily living assistance in older adults

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