Affective Touch and Low Power ArtificialMuscles for Rehabilitative and AssistiveWearable Soft Robotics

Jonathan Rossiter, Espen Knoop and Yuichi Nakamura

Abstract The goal in wearable rehabilitation is to restore the lost functionality ofthe body by rebuilding the sensory-motor link. This may be achieved through areplication, in an artificial or robotic system, of the physiotherapy methodsemployed by human experts. These methods are typically focused on physicalmanipulation. We suggest that a lower reliance on manipulation, combined withaffective touch stimulation, has the potential to provide effective rehabilitation inlower power and lighter wearable devices. Here we consider affective touch drivenby soft actuation and how this may be combined with low power artificial muscleactuators for physical rehabilitation.

1 Introduction

People who have suffered from injury, disease and stroke often have reducedmobility. In order to maintain their independence, quality of life and mental healththese people require rehabilitation and assistance. Rehabilitation is a short termprogram which aims to restore as much physical capability as possible. Afterrehabilitation has reached a plateau the patient may transition to a long term assistedlifestyle. Wearable robotics may be helpful in providing enhanced and automaticrehabilitation and assistance. Conventional rigid robotics, such as exoskeletons,have set the bar for ‘wearable’ physical rehab and assist devices [1, 2].

J. Rossiter—Supported by EPSRC grants EP/M026388/1 and EP/M020460/1.E. Knoop—Supported by the Dyson Foundation.

J. Rossiter (&) ! E. KnoopDepartment of Engineering Mathematics, University of Bristol, Bristol, UKe-mail: Jonathan.Rossiter@bristol.ac.uk

Y. NakamuraFaculty of Engineering, Academic Center for Computing and Media Studies,Graduate School of Electrical Engineering, Kyoto University, Kyoto, Japan

© Springer International Publishing AG 2017J. González-Vargas et al. (eds.), Wearable Robotics: Challenges and Trends,Biosystems & Biorobotics 16, DOI 10.1007/978-3-319-46532-6_17

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Unfortunately the limitations of rigid robots and their underlying reliance on gearedmotors and rigid metals and plastics reduces the adaptability and comfort of thesedevices and elevates their cost and complexity. More recently soft robotic deviceshave come to the fore as an alternative to rigid robots [3,4]. Advantages to wearablesoft robotics include inherent compliance (and associated increased safety),adaptability, lower cost and higher user acceptability. Although most approaches tosoft robotic assist and rehab devices target the same high power range as their rigidrobotic counterparts, there is great potential for lower power devices. A patient withmovement deficit may not require a high power assist device that will restore 100 %of their prior mobility. Rather a restoration of only a few percent may be sufficientto make a step change in their capabilities and quality of life.

In addition, the acceptability of thewearable device (be it orthotic or prosthetic) is amajor stumbling block to adoption and use [5]. Acceptability includes subjectiveassessment of comfort, functionality and aesthetics. We suggest that affective touch,combined with low power soft artificial muscle actuators can provide natural, com-fortable and low-cognitive-load soft wearable assistive and rehabilitative devices.

2 Affective Touch

The affective sense of touch is concerned with natural sensations which cover thespectrum from pleasant to unpleasant [6]. For example, smoothness and softness areoften linked to pleasantness, whereas stiffness, roughness and coarseness are linkedto unpleasantness. Affective haptics seeks to overcome the limitation of simplemechanical tactile stimulators by targeting the richer conceptual and emotionalchannel of communication that is encompassed by the affective sense of touch. Thisis in contrast to conventional electromechanical tactile stimulation, such as vibra-tions, which are convenient to generate with simple technologies, but which are notrelated to the natural sensations encountered in evolutionary history. The disconnectbetween conventional stimulation and human cognitive processes suggests that

Affectivetouch

Non-affectivetouch

Fig. 1 Affective tactilestimulation (left) provides anatural context and channelfor rehabilitation, in contrastwith non-affective unnaturalstimulation (right) such asvibration. Physicalrehabilitation in red, musclesin orange

102 J. Rossiter et al.

rehabilitation using the natural feelings afforded by affective tough may be moreeffective. Figure 1 illustrates how the low cognitive impedance of affective touch,in contrast to non-affective touch, can be combined with physical assistance toreinforce a rehabilitation activity such as bending the leg.

2.1 Affective Tactile Stimulation

Affective touch can be communicated via a range of affective tactile stimulators,providing the foundation technologies for inclusion in wearable rehabilitation andassistance devices. These include the Tickler, a wearable soft robotic tactile stim-ulator that stokes or tickles the skin [7] (Fig. 2a). The Tickler is fabricated from a3d printed compliant frame with integrated 3d printed rigid bars which hinge attheir mid points within a soft membrane (Objet260 Connex, Stratasys Ltd.) Thebars are actuated by shape memory alloy filaments at the ends away from the skin,causing the bars to pivot about their hinges and the ends in contact with the skin tomove laterally. The relative lateral motion of the bar ends across the skin stimulatessensations described by test subjects variously as ‘a subtle tickling sensation’, ‘likea massage’, ‘comfortable’, ‘feels good’.

A smaller scale affective stimulator is achieved by replacing the bars of theTickler with rounded pins. We can also reduce the size of the stimulation elementsto achieve a higher resolution or lower profile (Fig. 3) [8]. To actuate the pin arraystimulators we use a dielectric elastomer (DE) electroactive polymer actuator.This DE membrane is stretched across the base of the pins, and electrodes areapplied to the regions between the pins. When these regions are electrically stim-ulated (electric field *1 MV/m) they expand, causing lateral motion at the tips ofthe pins in contact with the skin.

Larger laterotactile stimulation can be achieved using more conventional servomotors to push apart, or bring together, two patches attached to the skin (Fig. 2b, c).These ‘skin stretchers’ interact with the skin only and do not directly drivemovement in the limbs. They impart a larger sensory stimulation and a higherdegree of urgency than the smaller scale stimulators, providing an enhanced linkbetween stretcher movement and limb movement.

3 Artificial Muscle Rehabilitation

Electroactive polymer (EAP) artificial muscles, such as the DE actuators used abovein the laterotactile stimulators, have power densities of the same order as biologicalmuscle. This suggests their use in soft wearable assist devices. Unfortunately fab-rication challenges, mismatches in natural frequencies, and reliability issues meanthat high power electroactive polymer assist devices are not currently achievable.A better application of EAPs is as lower power assist devices, for example to

Affective Touch and Low Power Artificial Muscles for Rehabilitative … 103

regulate or boost level walking, or to assist with standing stability in those whowould benefit from a small level of assistance. The inclusion of the above presentedaffective tactile stimulators in these low power devices is expected to improve theacceptance, comfort and cognitive compatibility of these devices.

Reducing the power output of the wearable rehabilitation device also means thatit can be made smaller, lighter and with lower cost. These will improve useradoption if the wearable device can be worn discreetly and comfortably underconventional clothing. With the integration of affective touch, and its emphasis onnatural tactile communication, the device will be minimally disruptive cognitively,with consequent benefits in rehabilitation and long-term assistance.

a. b.

c.

Fig. 2 Affective touch stimulators: (a) The Tickler laterotactile stimulator, (b), (c) large skinstretchers using servos.

104 J. Rossiter et al.

4 Conclusions

We have presented affective touch as an important and overlooked channel ofcommunication for integration in wearable soft robotic rehabilitation and assistdevices. By integrating artificial muscle-driven affective touch, through naturallaterotactile stimulation such as stoking and tickling, with low power EAP actuatorswe propose a new form of wearable device. These are expected to be comfortable,discrete and have wider acceptance and adoption in target patients undergoingneuro and physical rehabilitation or in need of long term assistance.

References

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Fig. 3 Electroactive polymer driven laterotactile stimulators: (a) two different tactile arrays,(b) sensitivity and discrimination experiments.

Affective Touch and Low Power Artificial Muscles for Rehabilitative … 105

6. Essick, G.K., McGlone, F., Dancer, C., Fabricant, D., Ragin, Y., Phillips, N., Jones, T., Guest, S.:Quantitative assessment of pleasant touch. Neurosci. Biobehav. Rev. 34(2), 192–203 (2010)

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106 J. Rossiter et al.

ContentsClinical Focus on Rehabilitation and Assistive WRs1 Clinical Evaluation of a Socket-Ready Naturally Controlled Multichannel Upper Limb Prosthetic SystemAbstract1 Introduction2 Methods2.1 Subjects2.2 Hardware and Control Algorithm2.3 Clinical Testing2.4 Experiment Protocol

3 Results4 Conclusions and DiscussionAcknowledgmentsReferences

2 Evaluation of a Robotic Exoskeleton for Gait Training in Acute Stroke: A Case StudyAbstract1 Introduction2 Materials and Methods2.1 Participants2.2 Robotic Exoskeleton (RE) Device2.3 Experimental Procedure and Data Analysis

3 Results4 DiscussionReferences

3 Wearable Exoskeleton Assisted Rehabilitation in Multiple Sclerosis: Feasibility and ExperienceAbstract1 Introduction2 Materials and Methods2.1 Subjects2.2 Exoskeleton Assisted Training2.3 Outcome Measures2.4 Data Analysis

3 Results4 Discussion5 ConclusionAcknowledgmentReferences

4 Exoskeletons for Rehabilitation and Personal Mobility: Creating Clinical EvidenceAbstract1 Introduction2 Material and Methods2.1 Patient Populations2.2 Exoskeletons2.3 Clinical Studies

3 Results4 Discussion5 ConclusionReferences

5 Lower Limb Wearable Systems for Mobility and Rehabilitation Challenges: Clinical FocusAbstract1 Introduction2 Gait Rehabilitation3 Gait Substitution4 Clinical Aspects for Gait Rehabilitation5 ConclusionsAcknowledgmentReferences

Emerging Technologies in WRsImpedance Control of Series Elastic Actuators Using Acceleration Feedback1 Introduction2 Impedance Control of Series Elastic Actuators3 Impedance Control Using Acceleration Feedback4 ConclusionsReferences

7 Kinetic Energy Recovery in Human Joints: The Flywheel-Infinitely Variable Transmission ActuatorAbstract1 Introduction2 The F-IVT Actuator: Working Principle and Performance Calculation2.1 Working Principle of F-IVT2.2 Performance Calculation

3 Results and Discussion4 ConclusionReferences

A Compliant Lightweight and Adaptable Active Ankle Foot Orthosis for Robotic Rehabilitation1 Introduction2 Mechanical Design of the AAFO2.1 Ankle Actuator2.2 Connections to the User

3 Ankle Actuator Characterization4 ConclusionReferences

A Novel Shoulder Mechanism with a Double Parallelogram Linkage for Upper-Body Exoskeletons1 Introduction2 Conceptual Design of Novel Shoulder Mechanism for an Upper-Body Exoskeleton3 Kinematic Analysis of the Mechanism4 Application of the Novel Spherical Shoulder Mechanism5 ConclusionReferences

A Soft Robotic Extra-Finger and Arm Support to Recover Grasp Capabilities in Chronic Stroke Patients1 Introduction2 The Soft-SixthFinger and Robotic Arm System3 Pilot Study4 ConclusionReferences

11 A Quasi-Passive Knee Exoskeleton to Assist During DescentAbstract1 Introduction2 Materials and Methods3 Results and Discussion4 ConclusionsReferences

Wearable Sensory Apparatus for Multi-segment System Orientation Estimation with Long-Term Drift and Magnetic Disturbance Compensation1 Introduction2 Methods2.1 Wearable Sensors2.2 Kinematic Relations2.3 Magnetic Model2.4 Model-Based Extended Kalman Filter

3 Results4 Discussion and ConclusionReferences

13 A Portable Active Pelvis Orthosis for Ambulatory Movement AssistanceAbstract1 Introduction2 Materials and Methods2.1 Mechanics2.2 Actuation Units2.3 Control

3 System Validation and Results4 Discussion and ConclusionReferences

Soft Wearable Robotics14 XoSoft - A Vision for a Soft Modular Lower Limb ExoskeletonAbstract1 Introduction2 User Centered Design3 User Groups4 System Description5 ConclusionsAcknowledgmentReferences

15 On the Efficacy of Isolating Shoulder and Elbow Movements with a Soft, Portable, and Wearable Robotic DeviceAbstract1 Introduction2 Materials and Methods2.1 Device Description2.2 Subject Description2.3 Exercise Description

3 Results4 ConclusionReferences

16 Design Improvement of a Polymer-Based Tendon-Driven Wearable Robotic Hand (Exo-Glove Poly)Abstract1 Introduction2 Design Improvement2.1 Magnet Embedment2.2 Tendon Length Adjustment Mechanism

3 ConclusionReferences

17 Affective Touch and Low Power Artificial Muscles for Rehabilitative and Assistive Wearable Soft RoboticsAbstract1 Introduction2 Affective Touch2.1 Affective Tactile Stimulation

3 Artificial Muscle Rehabilitation4 ConclusionsReferences

18 Evaluation of Force Tracking Controller with Soft Exosuit for Hip Extension AssistanceAbstract1 Introduction2 Material and Methods2.1 Sensing and Actuation2.2 Force Tracking Controller Description

3 Results4 ConclusionAcknowledgmentsReferences

Neural Interfacing of WRs19 Endogenous Control of Powered Lower-Limb ExoskeletonAbstract1 Introduction2 Method2.1 Hardware Setup2.2 Protocol2.3 Experiment Scenario2.4 Signal Processing and Decoding

3 Results4 DiscussionReferences

20 Natural User-Controlled Ambulation of Lower Extremity Exoskeletons for Individuals with Spinal Cord InjuryAbstract1 Introduction2 Surrogate Articulation of Gait3 Methods3.1 Experimental Apparatus3.2 Admittance Control of Hand-Walking

4 ResultsReferences

Real-Time Modeling for Lower Limb Exoskeletons1 Introduction2 Method2.1 Real-Time EMG-Driven NMS Modeling2.2 Interface with the H2 Lower-Limb Exoskeleton2.3 Experimental Protocol and Tests

3 ConclusionReferences

22 Towards Everyday Shared Control of Lower Limb ExoskeletonsAbstract1 Introduction2 Shared Control3 Lower Limb Exoskeletons4 Discussion and Future WorkAcknowledgmentsReferences

Biomechanics and Neurophysiological Studies with WRs23 Joint-Level Responses to Counteract Perturbations Scale with Perturbation Magnitude and DirectionAbstract1 Introduction2 Materials and Methods2.1 Experimental Setup and Protocol2.2 Data Processing

3 Results4 Discussion5 ConclusionsReferences

24 Metabolic Energy Consumption in a Box-Lifting Task: A Parametric Study on the Assistive TorqueAbstract1 Introduction2 Methods2.1 Musculoskeletal Model (MSM)2.2 Box-Lifting Movement2.3 Metabolic Energy2.4 Assistive Torque2.5 Box Interaction with the MSM

3 Results4 Discussion5 Conclusions and Future WorkReferences

25 Analysis of the Movement Variability in Dance Activities Using Wearable SensorsAbstract1 Introduction2 Methods2.1 Time-Delay Embedding2.2 Framework for the Experiment2.3 Participants2.4 Experiment Design2.5 Data Collection

3 Results4 Conclusion and Future WorkReferences

New Developments in Wearable Rehabilitation Robotics26 Real Time Computation of Centroidal Momentum for the Use as a Stability Index Applicable to Human Walking with ExoskeletonAbstract1 Introduction2 Centroidal Momentum3 Real Time Computation of CM3.1 Demonstration Platform3.2 Demonstration During Natural Overground Walking3.3 Demonstration During Walking with Tripping Events

4 ConclusionAcknowledgmentsReferences

A Versatile Neuromuscular Exoskeleton Controller for Gait Assistance: A Preliminary Study on Spinal Cord Injury Patients1 Introduction2 Materials and Methods3 Results4 Discussion5 ConclusionReferences

28 Introducing a Modular, Personalized Exoskeleton for Ankle and Knee Support of Individuals with a Spinal Cord InjuryAbstract1 Introduction2 Mechanical Design3 Electronic Design4 Specifications5 ConclusionAcknowledgmentsReferences

29 Towards Exoskeletons with Balance CapacitiesAbstract1 Introduction2 Materials and Methods2.1 Experimental Setup and Protocol

3 Results4 Discussion5 ConclusionsReferences

30 EMG-Based Detection of User’s Intentions for Human-Machine Shared Control of an Assistive Upper-Limb ExoskeletonAbstract1 Introduction2 Materials and Methods2.1 Exoskeleton2.2 Setup of the Study2.3 Motion Intention Detection2.4 Classification of Movement Direction

3 Results4 Discussion5 ConclusionsReferences

Legal Framework, Standardization and Ethical Issues in WRs31 Safety Standardization of Wearable Robots—The Need for Testing MethodsAbstract1 Introduction2 Regulation of Wearable Robots3 Need for Testing Procedures4 ConclusionReferences

32 The Potential and Acceptance of Exoskeletons in IndustryAbstract1 Introduction2 Methods2.1 Stakeholder Analysis2.2 Literature Review2.3 Acceptance

3 Results3.1 Stakeholder-Analysis Results3.2 Literature Review Results

4 Discussion and ConclusionsAcknowledgmentsReferences

33 Wearable Robots: A Legal AnalysisAbstract1 Introduction2 Legal Definitions3 Liability and Insurance4 Human Enhancement5 Final ConsiderationsReferences

34 A Verification Method for Testing Abrasion in the Use of Restraint Type Personal Care RobotsAbstract1 Introduction2 Verification Test Method for Abrasion Risk3 Validation of the Verified Data4 ConclusionAcknowledgmentsReferences

Benchmarking in WRs and Related Communities35 Kinematic Comparison of Gait Rehabilitation with Exoskeleton and End-Effector DevicesAbstract1 Introduction2 Materials and Methods2.1 Robot Systems: Exoskeleton and End-Effector Devices2.2 Procedure and Instrumentation

3 Results and Discussion3.1 Comparison of Gait Motion Trajectory3.2 Comparison of Stair Climbing and Descending Motion

4 ConclusionReferences

36 Evaluating the Gait of Lower Limb Prosthesis UsersAbstract1 Introduction2 Methods2.1 The CAREN System2.2 Data Collection and Analysis

3 Results4 Discussion5 ConclusionReferences

37 Some Considerations on Benchmarking of Wearable Robots for MobilityAbstract1 Introduction2 Metabolic Cost of Walking3 Balance Performance4 ConclusionReferences

Benchmarking Data for Human Walking in Different Scenarios1 Introduction2 The Koroibot Project and the Koroibot Motion Capture Database3 Human Walking Reference Data4 Conclusion & OutlookReferences

39 Clinical Gait Assessment in Relation to Benchmarking Robot LocomotionAbstract1 Introduction1.1 Taxonomies Related to International Classification of Functioning1.2 Clinical Assessments for Bipedal Locomotion

2 Method3 Results4 Discussion5 ConclusionReferences

Symbiotic Control of WRsAttention Level Measurement During Exoskeleton Rehabilitation Through a BMI System1 Introduction2 Materials and Methods2.1 Ankle Exoskeleton2.2 EEG Acquisition2.3 EEG Real Time Processing and Feature Extraction2.4 EEG Classification2.5 Experimental Protocol

3 Results and Discussion4 ConclusionsReferences

41 Detection of Subject’s Intention to Trigger Transitions Between Sit, Stand and Walk with a Lower Limb ExoskeletonAbstract1 Introduction2 Materials and Methods2.1 Material2.2 Protocol2.3 Classifier

3 Results4 Discussion5 ConclusionsReferences

The New Generation of Compliant Actuators for Use in Controllable Bio-Inspired Wearable Robots1 Introduction2 Compliant Actuation in WRs for Gait3 Control Strategy4 ConclusionReferences

An EMG-informed Model to Evaluate Assistance of the Biomot Compliant Ankle Actuator1 Introduction2 Materials and Methods3 Results4 Discussion5 ConclusionsReferences

Tacit Adaptability of a Mechanically Adjustable Compliance and Controllable Equilibrium Position Actuator, a Preliminary Study1 Introduction2 Materials and Methods3 Results4 Conclusion5 Futute WorkReferences

Emerging Applications Domains of WRs, Emerging Technologies in WRsDesign and Kinematic Analysis of the Hanyang Exoskeleton Assistive Robot (HEXAR) for Human Synchronized Motion1 Introduction2 System Requirements3 Mechanical Design of HEXAR-CR504 Kinematic Simulation with Walking Motions5 ConclusionReferences

46 Design and Experimental Evaluation of a Low-Cost Robotic Orthosis for Gait Assistance in Subjects with Spinal Cord InjuryAbstract1 Introduction2 Robotic Orthosis Design2.1 Knee Actuation System2.2 Sensors and Control

3 Experimental Evaluation4 ConclusionReferences

A Powered Low-Back Exoskeleton for Industrial Handling: Considerations on Controls1 Introduction2 Low-Back Exoskeleton3 Low-Level: Actuator Control4 High-Level: Assistive Strategy5 ConclusionsReferences

48 Efficient Lower Limb Exoskeleton for Human Motion AssistanceAbstract1 Introduction2 Mechanical Design and Components3 Exoskeleton Operation4 ConclusionReferences

Active Safety Functions for Industrial Lower Body Exoskeletons: Concept and Assessment1 Introduction2 Active Safety Functional Concepts3 Hazard Analysis and Risk Assessment4 ConclusionsReferences

50 SOLEUS: Ankle Foot Orthosis for Space Countermeasure with Immersive Virtual RealityAbstract1 Introduction2 SOLEUS Project Expected Benefits3 SOLEUS System Architecture3.1 Exoskeletons Subsystem3.2 Virtual Reality Subsystem

4 Musculo-Skeletal Simulations5 Scientific Evaluation6 ConclusionAcknowledgmentsReferences

SPEXOR: Spinal Exoskeletal Robot for Low Back Pain Prevention and Vocational Reintegration1 Context2 Objectives3 Going Beyond the State of the ArtReferences

Posters52 HeSA, Hip Exoskeleton for Superior AssistanceAbstract1 Introduction2 Design3 Control4 Testing5 ConclusionAcknowledgmentsReferences

SPEXOR: Towards a Passive Spinal Exoskeleton1 Introduction2 SOTA of Passive Exoskeletons3 Going Beyond4 ConclusionReferences

54 Autonomous Soft Exosuit for Hip Extension AssistanceAbstract1 Introduction2 System Description2.1 Actuation and Suit2.2 IMU-Based Iterative Controller

3 Results4 ConclusionReferences

55 Comparison of Ankle Moment Inspired and Ankle Positive Power Inspired Controllers for a Multi-Articular Soft Exosuit for Walking AssistanceAbstract1 Introduction2 Methods3 Results4 Discussion & ConclusionAcknowledgmentsReferences

56 Biomechanical Analysis and Inertial Sensing of Ankle Joint While Stepping on an Unanticipated BumpAbstract1 Introduction2 Methods3 Results4 Discussion and ConclusionAcknowledgmentsReferences

57 A Novel Approach to Increase Upper Extremity Active Range of Motion for Individuals with Duchenne Muscular Dystrophy Using Admittance Control: A Preliminary StudyAbstract1 Introduction2 Materials and Methods3 Results4 Discussion and ConclusionAcknowledgmentsReferences

58 Modulation of Knee Range of Motion and Time to Rest in Cerebral Palsy Using Two Forms of Mechanical StimulationAbstract1 Introduction2 Materials and Methods2.1 Whole Body Vibration (WBV)2.2 Vestibular Stimulation (VS)2.3 Assessment Technique

3 Results4 Discussion5 ConclusionReferences

59 Training Response to Longitudinal Powered Exoskeleton Training for SCIAbstract1 Introduction2 Materials and Methods2.1 Experimental Test Conditions2.2 Data Collection and Analysis

3 Results3.1 Demographics3.2 Spatial Temporal Parameters3.3 Correlation of Temporal-Spatial Measures to Velocity3.4 CoM3.5 Able Bodied with EksoGT™

4 Discussion5 ConclusionAcknowledgmentsReferences

60 Adaptive Classification of Arbitrary Activities Through Hidden Markov Modeling with Automated Optimal InitializationAbstract1 Introduction2 Methods3 Results4 Discussion and ConclusionReferences

Design and Motion Analysis of a Wearable and Portable Hand Exoskeleton1 Introduction2 Design Phase3 Results4 ConclusionReferences

Nitiglove: Nitinol-Driven Robotic Glove Used to Assist Therapy for Hand Mobility Recovery1 Introduction2 Engineering Design Process2.1 Muscle Wires2.2 Flex Sensors2.3 Results

3 ConclusionReferences

63 3D Printed Arm Exoskeleton for Teleoperation and Manipulation ApplicationsAbstract1 Introduction2 Exoskeleton Design2.1 Mechanical Design2.2 Mechatronics

3 Application 1: ICARUS4 Application 2: DEXROVAcknowledgmentsReferences

64 Musculoskeletal Simulation of SOLEUS Ankle Exoskeleton for Countermeasure Exercise in SpaceAbstract1 Introduction2 Methods2.1 Musculoskeletal Human Model2.2 Definition of Pedal-Pulling Motion2.3 Conditions of the Linear Actuators2.4 Interactions Between Human and SOLEUS System2.5 Inverse Dynamics of Musculoskeletal System

3 Results4 ConclusionAcknowledgmentsReferences

65 Human Gait Feature Detection Using Inertial Sensors WaveletsAbstract1 Introduction2 Wireless Sensing System3 Wavelet Analysis4 ConclusionReferences

On the Importance of a Motor Model for the Optimization of SEA-driven Prosthetic Ankles1 Introduction2 Materials and Methods3 Results and Discussion4 ConclusionReferences

67 Assessment of a 7-DOF Hand Exoskeleton for NeurorehabilitationAbstract1 Introduction2 Design Components2.1 Admittance Control Paradigm2.2 Wrist End Effector2.3 Modular Gripper2.4 Virtual Environment

3 Methods4 ConclusionReferences

Improving the Standing Balance of People with Spinal Cord Injury Through the Use of a Powered Ankle-Foot Orthosis1 Introduction2 Materials and Methods3 Results4 Discussion5 ConclusionsReferences

Transparent Mode for Lower Limb Exoskeleton1 Introduction2 Experimental Set-Up3 Gravity Compensation4 Friction Compensation5 Interaction Force6 Control System7 ConclusionReferences

70 Human-Robot Mutual Force Borrowing and Seamless Leader-Follower Role Switching by Learning and Coordination of Interactive ImpedanceAbstract1 Introduction2 Human-Robot Mutual Force Borrowing and Seamless Leader-Follower Role Switching3 Co-Adaptive Optimal Control FrameworkReferences

Upper Limb Exoskeleton Control for Isotropic Sensitivity of Human Arm1 Introduction2 Materials and Methods2.1 Manipulability2.2 Mobility2.3 Control Method

3 Experiments and Results4 ConclusionsReferences

72 AUTONOMYO: Design Challenges of Lower Limb Assistive Device for Elderly People, Multiple Sclerosis and Neuromuscular DiseasesAbstract1 Introduction2 Walking Impairments3 Trends of Existing Medical Devices3.1 Human-Robot Interaction3.2 Design Architecture

4 Challenges Toward Assistive Devices4.1 Human-Robot Interaction4.2 Design Architecture

5 ConclusionReferences

Passive Lower Back Moment Support in a Wearable Lifting Aid: Counterweight Versus Springs1 Introduction2 Materials and Methods3 Results4 DiscussionReferences