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Challenges and Future Trends of Wearable Robotics—2nd Edition
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Challenges and Future Trends of Wearable Robotics—2nd Edition

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Sensors and Robotics".

Deadline for manuscript submissions: closed (31 August 2024) | Viewed by 7398

Special Issue Editors

Dr. Francesca Cordella

E-Mail Website
Guest Editor
Department of Engineering, Campus Bio-Medico, University of Rome, 00128 Rome, Italy
Interests: biomedical robotics; human–machine multimodal interfaces; adaptive control strategies for collaborative robotics; vision-based approaches for motion reconstruction and human–robot interaction; psychophysiological assessment; closed-loop systems; sensory feedback restoration
Special Issues, Collections and Topics in MDPI journals
Dr. Emilio Trigili

E-Mail Website
Guest Editor
BioRobotics Institute, Scuola Superiore Sant'Anna, Pisa, Italy
Interests: wearable robotics; exoskeletons; robotic rehabilitation; assistive devices; biomechatronics
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Jan Babič

E-Mail Website
Guest Editor
Dept. of Automatics, Biocybernetics, and Robotics Jamova 39, 1000 Ljubljana, Slovenia
Interests: understand how the central nervous system process sensory information and transfer them to motor commands
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Wearable robotics is becoming more and more present in our life. These systems are in fact, among others, adopted in working environments with the aim of alleviating workers physical burden, as rehabilitation tools to enhance motor performance of people suffering from different pathologies, in teleoperation by representing a simple and natural interface to guide remote systems, as prostheses to replace a missed limb, as assistive devices to enhance or replace a motor functionality.

Despite these wide potentials, wearable systems are still far from being widely used in daily life due to some limitations related to usability, comfort, user intention recognition, costs and performance. Main current challenges are in fact related to i) mechanical design, that should be as unobtrusive and comfortable as possible while guaranteeing an effective human-like motion, ii) actuation and sensing, that have to estimate motion intention and to realize the motion with high torque density and high energy efficiency, and iii) control, that has to guarantee high accuracy, reliability and co-adaptation.

This special issue wants to outline the new advancements and challenges in the field of wearable robots paying particular attention to the hardware and software requirements for the deployment of wearable robots in the real world. Aspects related to sensing technologies, mechanical layout, control, acceptability, intuitiveness, clinical and daily use would be particularly considered.

Keywords:

  • Sensing, actuation and design of wearable robots
  • Teleoperation through wearable robots
  • Augmentation
  • Human-robot interfacing and co-adaptation
  • Soft wearable devices
  • Wearable robots for healthcare and sport
  • System performance evaluation
  • Motion intention recognition for wearable robots’ control
  • Prostheses
  • Machine learning methods for perception and control

This special issue fits the scope of Sensors aiming at providing a comprehensive view of the main challenges and future trends about wearable sensors and devices.

Dr. Francesca Cordella
Dr. Emilio Trigili
Prof. Dr. Jan Babič
Guest Editors

Manuscript Submission Information

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Submitted manuscripts should not have been published previously, nor be under consideration for publication elsewhere (except conference proceedings papers). All manuscripts are thoroughly refereed through a single-blind peer-review process. A guide for authors and other relevant information for submission of manuscripts is available on the Instructions for Authors page. Sensors is an international peer-reviewed open access semimonthly journal published by MDPI.

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Related Special Issue

Published Papers (5 papers)

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Research

17 pages, 6377 KiB  
Article
Assisting Standing Balance Recovery for Parkinson’s Patients with a Lower-Extremity Exoskeleton Robot
by Chi-Shiuan Lee, Lo-Ping Yu, Si-Huei Lee, Yi-Chia Chen and Chun-Ta Chen
Sensors 2024, 24(23), 7498; https://doi.org/10.3390/s24237498 - 24 Nov 2024
Viewed by 518
Abstract
Parkinson’s disease (PD) is a neurodegenerative disorder and always results in balance loss. Although studies in lower-extremity exoskeleton robots are ample, applications with a lower-extremity exoskeleton robot for PD patients are still challenging. This paper aims to develop an effective assistive control for [...] Read more.
Parkinson’s disease (PD) is a neurodegenerative disorder and always results in balance loss. Although studies in lower-extremity exoskeleton robots are ample, applications with a lower-extremity exoskeleton robot for PD patients are still challenging. This paper aims to develop an effective assistive control for PD patients with a lower-extremity exoskeleton robot to maintain standing balance while being subjected to external disturbances. When an external force is applied to participants to force them to lose balance, the hip strategy for balance recovery based on the zero moment point (ZMP) metrics is used to generate a reference trajectory of the hip joint, and then, a model-free linear extended state observer (LESO)-based fuzzy sliding mode control (FSMC) is synthesized to regulate the human body to recover balance. Balance recovery trials for healthy individuals and PD patients with and without exoskeleton assistance were conducted to evaluate the performance of the proposed exoskeleton robot and balance recovery strategy. Our experiments demonstrated the potential effectiveness of the proposed exoskeleton robot and controller for standing balance recovery control in PD patients. Full article
(This article belongs to the Special Issue Challenges and Future Trends of Wearable Robotics—2nd Edition)
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15 pages, 6516 KiB  
Article
Evaluation of the Working Mechanism of a Newly Developed Powered Ankle–Foot Orthosis
by Laure Everaert, Roy Sevit, Tijl Dewit, Koen Janssens, Jolien Vanloocke, Anja Van Campenhout, Luc Labey, Luiza Muraru and Kaat Desloovere
Sensors 2024, 24(20), 6562; https://doi.org/10.3390/s24206562 - 11 Oct 2024
Viewed by 1027
Abstract
Ankle–foot orthoses (AFOs) are commonly prescribed to children with cerebral palsy (CP). The conventional AFO successfully controls the first and second ankle rocker, but it fails to correct the third ankle rocker, which negatively effects push-off power. The current study evaluated a new [...] Read more.
Ankle–foot orthoses (AFOs) are commonly prescribed to children with cerebral palsy (CP). The conventional AFO successfully controls the first and second ankle rocker, but it fails to correct the third ankle rocker, which negatively effects push-off power. The current study evaluated a new powered AFO (PAFO) design, developed to address the shortcomings of the conventional AFO. Eight children with spastic CP (12.4 ± 3.4 years; GMFCS I-III; 4/4-♂/♀; 3/5-bi/unilateral) were included. Sagittal kinematic and kinetic data were collected from 20 steps during barefoot walking, with conventional AFOs and PAFOs. In the PAFO-condition, an actuation unit was attached to a hinged AFO and through push–pull cables to a backpack that was carried by the child and provided patient-specific assistance-as-needed. SnPM-analysis indicated gait cycle sections that differed significantly between conditions. For the total group, differences between the three conditions were found in ankle kinematics (49.6–66.1%, p = 0.006; 88.0–100%, p = 0.011) and angular velocity (0.0–6.0%, p = 0.001; 45.1–51.1%, p = 0.006; 62.2–73.0%, p = 0.001; 81.2–93.0%, p = 0.001). Individual SnPM-analysis revealed a greater number of significant gait cycle sections for kinematics and kinetics of the ankle, knee, and hip. These individual results were heterogeneous and specific per gait pattern. In conclusion, the new PAFO improved the ankle range-of-motion, angular velocity, and power during push-off in comparison to the conventional AFO. Full article
(This article belongs to the Special Issue Challenges and Future Trends of Wearable Robotics—2nd Edition)
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12 pages, 10241 KiB  
Article
Robotic-Enhanced Prosthetic Liners for Vibration Therapy: Reducing Phantom Limb Pain in Transfemoral Amputees
by Kacey Roehrich, Mary Goldberg and Goeran Fiedler
Sensors 2024, 24(15), 5026; https://doi.org/10.3390/s24155026 - 3 Aug 2024
Viewed by 929
Abstract
Phantom limb pain, a common challenge for amputees, lacks effective treatment options. Vibration therapy is a promising non-pharmacologic intervention for reducing pain intensity, but its efficacy in alleviating phantom limb pain requires further investigation. This study focused on developing prosthesis liners with integrated [...] Read more.
Phantom limb pain, a common challenge for amputees, lacks effective treatment options. Vibration therapy is a promising non-pharmacologic intervention for reducing pain intensity, but its efficacy in alleviating phantom limb pain requires further investigation. This study focused on developing prosthesis liners with integrated vibration motors to administer vibration therapy for phantom limb pain. The prototypes developed for this study addressed previous issues with wiring the electronic components. Two transfemoral amputees participated in a four-week at-home trial, during which they used the vibration liner and rated their initial and final pain intensity on a numeric rating scale each time they had phantom pain. Semi-structured interviews were conducted to gather feedback following the at-home trial. Both participants described relaxing and soothing sensations in their residual limb and phantom limb while using vibration therapy. One participant reported a relaxation of his phantom limb sensations, while both participants noted a decrease in the intensity of their phantom limb pain. Participants said the vibration liners were comfortable but suggested that the vibration could be stronger and that aligning the contacts could be easier. The results of this study highlight the potential effectiveness of using vibration therapy to reduce the intensity of phantom limb pain and suggest a vibration liner may be a feasible mode of administering the therapy. Future research should address optimizing the performance of the vibration liners to maximize their therapeutic benefits. Full article
(This article belongs to the Special Issue Challenges and Future Trends of Wearable Robotics—2nd Edition)
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16 pages, 4487 KiB  
Article
Developing a Novel Prosthetic Hand with Wireless Wearable Sensor Technology Based on User Perspectives: A Pilot Study
by Yukiyo Shimizu, Takahiko Mori, Kenichi Yoshikawa, Daisuke Katane, Hiroyuki Torishima, Yuki Hara, Arito Yozu, Masashi Yamazaki, Yasushi Hada and Hirotaka Mutsuzaki
Sensors 2024, 24(9), 2765; https://doi.org/10.3390/s24092765 - 26 Apr 2024
Viewed by 1877
Abstract
Myoelectric hands are beneficial tools in the daily activities of people with upper-limb deficiencies. Because traditional myoelectric hands rely on detecting muscle activity in residual limbs, they are not suitable for individuals with short stumps or paralyzed limbs. Therefore, we developed a novel [...] Read more.
Myoelectric hands are beneficial tools in the daily activities of people with upper-limb deficiencies. Because traditional myoelectric hands rely on detecting muscle activity in residual limbs, they are not suitable for individuals with short stumps or paralyzed limbs. Therefore, we developed a novel electric prosthetic hand that functions without myoelectricity, utilizing wearable wireless sensor technology for control. As a preliminary evaluation, our prototype hand with wireless button sensors was compared with a conventional myoelectric hand (Ottobock). Ten healthy therapists were enrolled in this study. The hands were fixed to their forearms, myoelectric hand muscle activity sensors were attached to the wrist extensor and flexor muscles, and wireless button sensors for the prostheses were attached to each user’s trunk. Clinical evaluations were performed using the Simple Test for Evaluating Hand Function and the Action Research Arm Test. The fatigue degree was evaluated using the modified Borg scale before and after the tests. While no statistically significant differences were observed between the two hands across the tests, the change in the Borg scale was notably smaller for our prosthetic hand (p = 0.045). Compared with the Ottobock hand, the proposed hand prosthesis has potential for widespread applications in people with upper-limb deficiencies. Full article
(This article belongs to the Special Issue Challenges and Future Trends of Wearable Robotics—2nd Edition)
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31 pages, 16141 KiB  
Article
Human-Robot Joint Misalignment, Physical Interaction, and Gait Kinematic Assessment in Ankle-Foot Orthoses
by Ricardo Luís Andrade, Joana Figueiredo, Pedro Fonseca, João P. Vilas-Boas, Miguel T. Silva and Cristina P. Santos
Sensors 2024, 24(1), 246; https://doi.org/10.3390/s24010246 - 31 Dec 2023
Viewed by 1898
Abstract
Lower limb exoskeletons and orthoses have been increasingly used to assist the user during gait rehabilitation through torque transmission and motor stability. However, the physical human-robot interface (HRi) has not been properly addressed. Current orthoses lead to spurious forces at the HRi that [...] Read more.
Lower limb exoskeletons and orthoses have been increasingly used to assist the user during gait rehabilitation through torque transmission and motor stability. However, the physical human-robot interface (HRi) has not been properly addressed. Current orthoses lead to spurious forces at the HRi that cause adverse effects and high abandonment rates. This study aims to assess and compare, in a holistic approach, human-robot joint misalignment and gait kinematics in three fixation designs of ankle-foot orthoses (AFOs). These are AFOs with a frontal shin guard (F-AFO), lateral shin guard (L-AFO), and the ankle modulus of the H2 exoskeleton (H2-AFO). An experimental protocol was implemented to assess misalignment, fixation displacement, pressure interactions, user-perceived comfort, and gait kinematics during walking with the three AFOs. The F-AFO showed reduced vertical misalignment (peak of 1.37 ± 0.90 cm, p-value < 0.05), interactions (median pressures of 0.39–3.12 kPa), and higher user-perceived comfort (p-value < 0.05) when compared to H2-AFO (peak misalignment of 2.95 ± 0.64 and pressures ranging from 3.19 to 19.78 kPa). F-AFO also improves the L-AFO in pressure (median pressures ranging from 8.64 to 10.83 kPa) and comfort (p-value < 0.05). All AFOs significantly modified hip joint angle regarding control gait (p-value < 0.01), while the H2-AFO also affected knee joint angle (p-value < 0.01) and gait spatiotemporal parameters (p-value < 0.05). Overall, findings indicate that an AFO with a frontal shin guard and a sports shoe is effective at reducing misalignment and pressure at the HRI, increasing comfort with slight changes in gait kinematics. Full article
(This article belongs to the Special Issue Challenges and Future Trends of Wearable Robotics—2nd Edition)
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