Motion Assistance Research Articles

Evaluation of fabric-based pneumatic actuator enclosure and anchoring configurations in a pediatric soft robotic exosuit.

Soft robotics play an increasing role in the development of exosuits that assist, and in some cases enhance human motion. While most existing efforts have focused on the adult population, devices targeting infants are on the rise. This work investigated how different configurations pertaining to fabric-based pneumatic shoulder and elbow actuator embedding on the passive substrate of an exosuit for pediatric upper extremity motion assistance can affect key performance metrics. The configurations varied based on actuator anchoring points onto the substrate and the type of fabric used to fabricate the enclosures housing the actuators. Shoulder adduction/abduction and elbow flexion/extension were treated separately. Two different variants (for each case) of similar but distinct actuators were considered. The employed metrics were grouped into two categories; reachable workspace, which includes joint range of motion and end-effector path length; and motion smoothness, which includes end-effector path straightness index and jerk. The former category aimed to capture first-order terms (i.e., rotations and displacements) that capture overall gross motion, while the latter category aimed to shed light on differential terms that correlate with the quality of the attained motion. Extensive experimentation was conducted for each individual considered configuration, and statistical analyses were used to establish distinctive strengths, weaknesses, and trade-offs among those configurations. The main findings from experiments confirm that the performance of the actuators can be significantly impacted by variations in the anchoring and fabric properties of the enclosures while establishing interesting trade-offs. Specifically, the most appropriate anchoring point was not necessarily the same for all actuator variants. In addition, highly stretchable fabrics not only maintained but even enhanced actuator capabilities, in comparison to the less stretchable materials which turned out to hinder actuator performance. The established trade-offs can serve as guiding principles for other researchers and practitioners developing upper extremity exosuits.

Soft ankle exoskeleton to counteract dropfoot and excessive inversion.

Wearable exoskeletons are emerging technologies for providing movement assistance and rehabilitation for people with motor disorders. In this study, we focus on the specific gait pathology dropfoot, which is common after a stroke. Dropfoot makes it difficult to achieve foot clearance during swing and heel contact at early stance and often necessitates compensatory movements. We developed a soft ankle exoskeleton consisting of actuation and transmission systems to assist two degrees of freedom simultaneously: dorsiflexion and eversion, then performed several proof-of-concept experiments on non-disabled persons. The actuation system consists of two motors worn on a waist belt. The transmission system provides assistive force to the medial and lateral sides of the forefoot via Bowden cables. The coupling design enables variable assistance of dorsiflexion and inversion at the same time, and a force-free controller is proposed to compensate for device resistance. We first evaluated the performance of the exoskeleton in three seated movement tests: assisting dorsiflexion and eversion, controlling plantarflexion, and compensating for device resistance, then during walking tests. In all proof-of-concept experiments, dropfoot tendency was simulated by fastening a weight to the shoe over the lateral forefoot. In the first two seated tests, errors between the target and the achieved ankle joint angles in two planes were low; errors of <1.5° were achieved in assisting dorsiflexion and/or controlling plantarflexion and of <1.4° in assisting ankle eversion. The force-free controller in test three significantly compensated for the device resistance during ankle joint plantarflexion. In the gait tests, the exoskeleton was able to normalize ankle joint and foot segment kinematics, specifically foot inclination angle and ankle inversion angle at initial contact and ankle angle and clearance height during swing. Our findings support the feasibility of the new ankle exoskeleton design in assisting two degrees of freedom at the ankle simultaneously and show its potential to assist people with dropfoot and excessive inversion.

Succession revolution: feminist movements and the birth of female heir in China, 1928–1930

ABSTRACT This article sheds light on the efforts of intellectuals and women’s circles in the struggle for equal inheritance rights in modern China. By analyzing various social campaigns for women’s equal rights during this period, specifically in relation to daughters’ access to inheritance rights, this article explores the complexities and contradictions surrounding daughters’ inheritance rights in twentieth-century China. The argument put forth is that the interaction between the new state-building process and the influence of social campaigns enabled female to explore new rights holder. However, local practices often adhered to traditional customs that marginalized daughters without inheritance rights. Nevertheless, with the assistance of feminist movements, daughters’ inheritance rights have gradually gained acceptance as an essential component of social claims in modern China.

2E4-2 Expioring the Initiation Timing of Assistance in Cooperation with Motion Assist Devices

2E4-2 Expioring the Initiation Timing of Assistance in Cooperation with Motion Assist Devices

Application of gaming robot based on gait recognition algorithm in sports training and assistance system

At present, game sports robots have become a new type of sports assistance technology, which can achieve more natural and smooth motion trajectory analysis under continuous training, and provide a gamified user experience for sports training. This article analyzes the application of game motion robots based on gait recognition algorithms in sports training and motion assistance systems, which can more accurately obtain information data of the athlete during the movement process and has good results in preventing sports injuries. We combine gait recognition algorithms with video feature aggregation to integrate high-level and low-level network features, achieving effective extraction of multi-level image features. Finally, complete action recognition, review, and analysis. Through experimental comparison, it can be seen that the feature aggregation modules designed in this article at different levels are very effective, and combined with gait recognition algorithms, they can effectively improve the accuracy of motion recognition and have excellent robustness. The motion assistance system designed in this article can automatically determine the movements during exercise, allowing athletes to self-evaluate their movements and correct incorrect movements without the need for professional guidance, achieving healthy and effective exercise results.

Healthy Living Movement Assistance to Maintain Dental and Oral Health in Children: A Community Service at SD Negeri 15 Fafanlap, South Misool District, Raja Ampat Regency, Southwest Papua, Indonesia

Optimal dental and oral health is an important aspect in children's growth and development. However, in remote areas such as South Misool, Raja Ampat, access to dental health information and services is still limited. This encourages the need for community service to increase awareness and practice of maintaining dental and oral health in children. This community service was carried out at SD Negeri 15 Fafanlap involving 120 students in grades 1-6. The methods used include: (1) interactive education about dental and oral health, (2) demonstration and training on correct tooth brushing practices, (3) distribution of free brushes and toothpaste, (4) simple dental examinations, and (5) monitoring periodically for 6 months. After the intervention, there was a significant increase in students' knowledge about dental and oral health. The ability to brush teeth properly also increases rapidly, as indicated by a reduction in dental plaque. In addition, positive behavioral changes occurred with increased frequency of tooth brushing and use of fluoride toothpaste. This community service succeeded in increasing awareness, knowledge and practice of maintaining oral health among children at SD Negeri 15 Fafanlap. It is hoped that the continuation of the program and replication in other areas will have a wider impact on the dental and oral health of Indonesian children.

Maximum in-vivo joint contact forces double during active compared to assisted motion in the glenohumeral joint and decline long-term due to rotator cuff pathologies.

Rehabilitation programs advocate early passive and assisted motion after rotator cuff repair to induce healing und maintaining range of motion while avoiding excessive strain on the repaired tendons. In-vivo glenohumeral joint contact forces reflect the compressive forces generated by the rotator muscles. In the present study, maximum in-vivo joint contact forces (FresMax) were determined to compare active and assisted execution of a single movement and the long-term development of joint compression forces. FresMax were measured in six patients who received instrumented, telemetric modified anatomical hemi endoprostheses of the shoulder joint between 2006 and 2008. Data were gathered 23months postoperatively (2006-2010), were analysed and compared with measurements 133months postoperatively. Additional imaging was obtained as x-rays and ultrasound examination. Data analysis was conducted by synchronizing video tapes and measured force curves. New imaging showed a rupture of the M. supraspinatus and progressive joint degeneration. FresMax nearly doubled during active compared to assisted execution of each of the four chosen movements. Over the course of 133months post-surgery, the studied movements showed a decrease of active compression force, probably due to a ruptured supraspinatus, resulting in a lower active/assisted ratio. A long term follow up after eleven years, eight out of ten measured movements showed a decrease of FresMax. These results support current rehabilitation protocols recommending early passive and assisted motion to limit activation of the rotator muscles generating compressive forces. Following degeneration of the rotator cuff, active joint contact forces decrease over time.Level of evidence: III.

An Experiment Using Functional Near-Infrared Spectroscopy and Robot-Assisted Multi-Joint Pointing Movements of the Lower Limb.

Stroke affects approximately 17 million individuals worldwide each year and is a leading cause of long-term disability. Robotic therapy has shown promise in helping stroke patients regain lost motor functions. One potential avenue for increasing the understanding of how motor recovery occurs is to study brain activation during the movements that are targeted by therapy in healthy individuals. Functional Near-Infrared Spectroscopy (fNIRS) has emerged as a promising neuroimaging technique for examining neural underpinnings of motor function. This study aimed to investigate fNIRS neural correlates of complex lower limb movements in healthy subjects. Participants were asked to perform cycles of rest and movement for 6 min using a robotic device for motor rehabilitation. The task required coordinated knee and ankle joint movements to point to targets displayed on a computer screen. Two experimental conditions with different levels of movement assistance provided by the robot were explored. The results showed that the fNIRS protocol effectively detected brain regions associated with motor control during the task. Notably, all subjects exhibited greater activation in the contralateral premotor area during the no-assistance condition compared to the assisted condition. In conclusion, fNIRS appears to be a valuable approach for detecting changes in oxyhemoglobin concentration associated with multi-joint pointing movements of the lower limb. This research might contribute to the understanding of stroke motor recovery mechanisms and might pave the way for improved rehabilitation treatments for stroke patients. However, further research is needed to fully elucidate the potential of fNIRS in studying motor function and its applications in clinical settings.

Thermally Driven 3D Seamless Textile Actuators for Soft Robotic Applications

Soft wearable robotic devices have emerged as a promising solution for human mobility assistance and rehabilitation, yet current solutions suffer from issues such as bulkiness, high cost, nonscalability, noise, and limited portability. This study introduces a novel approach to soft robotic assistive devices using untethered, soft actuators with seamlessly integrated sensing, heating, and actuation properties through digital machine knitting and low‐boiling liquid. The proposed soft actuator operates under a voltage of less than 12.5 V, generating a tip force of up to 50 mN. This actuator achieves a bending motion when filled with 2 mL of low‐boiling liquid and supplied with 15 W. The dynamic response of the actuator is examined under consistent parameters, revealing a 60‐second inflation time and a subsequent natural cooling period of 30 s at room temperature. Notably, over 12 cycles, the tip force of the actuator exhibits minimal variation, highlighting its durability for prolonged usage. The proposed approach paves the way for overcoming the limitations of existing technologies, particularly in terms of motion assistance and rehabilitation applications, with an emphasis on at‐home usage during daily activities.

Pneumatically Actuated Soft Robotic Hand and Wrist Exoskeleton for Motion Assistance in Rehabilitation

Exoskeletons are being explored for assisting motion therapy for neurological impairment-related rehabilitation. Soft robotic exoskeletons are gaining more attention for upper-extremity applications due to their simplistic actuation mechanisms and compliant nature. To regain fine motor hand functions, it is desired to have both hand and wrist motions in a coordinated fashion, as most daily living tasks require a combination of both hand and wrist joint motions. However, a soft robotic exoskeleton with hand and wrist motion together is an underdeveloped area. This paper presents a pneumatically actuated soft robotic exoskeleton designed to provide coordinated assistive motion to the hand and wrist joints using PD-based feedback control. The results showed the potential of the exoskeleton to provide flexion/extension rehabilitation exercises and task-oriented rehabilitation practices. Additionally, the results have confirmed that the implemented PD control ensures that the exoskeleton reaches the targeted angular trajectories and velocities. Two modes, full and partial assistance, were successfully tested to verify the ability of the exoskeleton to accommodate varying levels of impairment.

Design and testing of fabric-based portable soft exoskeleton glove for hand grasping assistance in daily activity

Hand exoskeleton robots have been developed as rehabilitation robots and assistive devices. Based on the material used, they can be soft or hard exoskeletons. Soft materials such as fabric can be used as a component of the wearable robot to increase comfortability. In this paper, we proposed an affordable soft hand exoskeleton based on fabric and motor-tendon actuation for hand flexion/extension motion assistance in daily activities. On-off control and PI compensator were implemented to regulate finger flexion and extension of the soft exoskeleton. The controllers were embedded into a microcontroller using Simulink software. The input signal command comes from the potentiometer and electromyography (EMG) sensor to drive the flexion/extension movement. Based on the experiments, the proposed controller successfully controlled the exoskeleton hand to facilitate a user in grasping various objects. The proposed soft hand exoskeleton is lightweight, comfortable, portable, and affordable, making it easily manufactured using available hardware and open-source code. The developed soft exoskeleton is a potential assistive device for a person who lost the ability to grasp objects.

Active self-powered human motion assist system

Harvesting human energy currently occurs to power wearable devices or monitor human signs, these applications make the energy harvester less applicable to and seldom used for assisting human motion. However, there is a high demand for using such collected energy with the assistance of human motion. This paper presents a novel energy harvester that is designed to collect negative work, assist human motion, and realize self-powering. An active self-powered human motion assist system (HMAS) is developed. The system consists of a human motion assist device, a flexible rack, an electronic circuit module, and a supercapacitor. The HMAS can collect negative work from the human body, provide the user with additional motion assistance, and reduce stamina consumption. A series of experiments verify that HMAS has a high negative work collection power and a high energy conversion efficiency. The average output power is 0.93 W measured by the negative work collection test bed at a simulated knee bend angle of 40° and a frequency of 2 Hz. The energy conversion efficiency is up to 48.2%. Human motion assistance experiments verify that HMAS can provide volunteers with up to 2.57% assisting moment and minimize the metabolic cost of volunteers by 6.07% compared to without wearing HMAS. This research work is proposed to contribute to the development of active self-powered exoskeleton technology. This technology can be practically applied in the fields of rehabilitation therapy, logistics transportation, and military combat.

Kinematics Mathematical Modelling of Lower Limb Exoskeleton for Paralyzed Stroke Patients

This paper presents the development of a lower limb rehabilitation robot to be used with bedridden patients. Strokes are one of the significant causes of death in 17% of the 109,155 medically certified death in 2020 in Malaysia. In most cases, stroke paralysis affects the opposite side of the damaged brain, and any part of the body can be affected. 90% of stroke patients get paralysis to some degree. Patients can recover from the disease and restore body motions by undergoing paralysis stroke physiotherapy, which involves numerous sessions with patients. There were several successful robotic rehabilitations in recent years; however, their design is inflexible and large, requiring the patient to sit or stand in a static position. This project will be built on a motor-driven parallel architecture that will offer motion assistance throughout the human’s wide range of motion (ROM). This project development is divided into two parts: structure design and simulation. The design process for the lower limb devices used syncretization and mathematical analysis. The structure design is from the kinematic analysis. The mathematical models are then used to design in MATLAB simulation which is trajectory simulation. The outcome shows that the simulations that have been developed is compatible with the motion of human lower limb. This robot develops for bedridden use of lower limb rehabilitation exercises.

Tailoring responsible research and innovation to the translational context: the case of AI-supported exergaming

We discuss the implementation of Responsible Research and Innovation (RRI) within a project for the development of an AI-supported exergame for assisted movement training, outline outcomes and reflect on methodological opportunities and limitations. We adopted the responsibility-by-design (RbD) standard (CEN CWA 17796:2021) supplemented by methods for collaborative, ethical reflection to foster and support a shift towards a culture of trustworthiness inherent to the entire development process. An embedded ethicist organised the procedure to instantiate a collaborative learning effort and implement RRI in a translational context. Within the interdisciplinary setting of the collaboration and with the support of a technoethicist, we successfully identified relevant, project-specific challenges and developed a roadmap with derived actions, thus meaningfully integrating RRI into the development process. We discuss the methodological procedure in terms of its effectiveness and efficiency, the allocation of responsibilities and roles, particularly regarding potential frictions in the interdisciplinary context with embedded ethics, and the challenges of the translational context. We conclude that the responsibility-by-design standard effectively established a productive workflow for collaborative investigation and work on ethical challenges. We reflect on methodological difficulties and propose possible avenues to our approach.

Development of a Novel Tendon-Sheath-Driven Upper Limb Exoskeleton With Elastic Joints for Assisting Surgeon-Performing Microlaryngoscopic Surgery

Abstract When performing microlaryngoscopic surgery, surgeons must maintain their arm positions for a long time, which can cause arm soreness and affect the success rate of surgery. In this study, a novel tendon-sheath-driven upper limb exoskeleton with elastic joints (TULEE) is proposed and developed to support the arms of doctors wearing the TULEE. The functional requirements of the TULEE were proposed according to the needs of microlaryngoscopic surgery, and the overall structure of the TULEE was designed. Then, the positive kinematics of the TULEE were derived based on the D–H transformation matrices, and the accuracy of the positive kinematic control was verified experimentally. The reachable workspace of the wrist joint of the TULEE was analyzed, and the dexterous workspace of the wrist was analyzed by using the condition number of the Jacobian matrix. The control strategy of the TULEE was proposed based on the principle of admittance control. Finally, an experimental prototype of the TULEE was built, and the feasibility of the control strategy was verified by a servo control experiment testing a single joint and a combined control experiment testing multiple joints. Through simulated surgical experiments, it was verified that TULEE can follow the wearer's arm movement, provide assistance for the wearer's arm movement in the following control mode, and lock the joint rotation angle in the steady-state control mode to reduce external disturbances and reduce the risk of unsuccessful surgery.

The Effect of Integrated Care After Discharge From Hospitals on Outcomes Among Korean Older Adults

Background: The Korean government implemented a pilot project for integrated care of older adults in August 2019. the pilot project of integrated care provided housekeeping support, nutrition support, movement assistance, home repair, consultations and education for healthy lifestyle, and some home-based primary care to older patients discharged from hospitals. This study investigated the outcomes of this project among older adults who participated in it after discharge from the hospital. Methods: This study combined the data from the pilot project survey with that from the National Health Insurance Service. The participants comprised 1,895 older adults who participated in the pilot project between August 01, 2019 and April 30, 2022. For comparison, 7,145 older adults who lived in regions where no pilot project were selected as the matched group using propensity score matching. The length of home stay, total expenses of national health insurance and long-term care insurance, emergency visits, and hospital readmission for the same disease were measured, till July 31, 2022. Statistical analysis was performed through difference-in-differences analysis using a generalized estimating equation and the Cox proportional hazards model. Results: The results indicated an increase of 35.2 days (95% confidence interval [CI] 30.7, 39.8) in length of home stay over an average observation period of 550.5 days and a reduction of 6,960 USD (95% CI: -7,924, -5,996) in total expenses for participants compared to the controls. The odds ratio of emergency visits of the pilot project participants was 0.56 (95% CI 0.48, 0.65) compared with the controls. The hazard ratio for hospital readmission for the same disease after hospital discharge was 3.53 (95% CI 2.98, 4.19) times higher in project participants than that in the controls. Conclusion: The pilot project for integrated care has resulted in an increased length of home stay and hospital readmission and reduced total expenses and emergency visits among older patients discharged from hospitals. The integrated care after discharge from hospitals can help older adults to continue living in the place where they lived, and improved collaboration between clinics and hospitals is required to prevent readmissions.

Soft Robotic Hand Exoskeleton with Enhanced PneuNet‐Type Pneumatic Actuators for Rehabilitation and Movement Assistance

This paper presents a new soft robotic hand exoskeleton for rehabilitation and movement assistance. The proposed device is based on a novel design of a PneuNet‐type pneumatic actuator; this novel actuator design allows larger bending motions while requiring less operating pressure; additionally, the actuator has an embedded sensor that allows an accurate trajectory tracking and control. The proposed design allows safe and controlled flexion movements for each one of the fingers, which is essential for effective rehabilitation and assistance tasks. The exoskeleton effectiveness was assessed by a physical therapist, and a modified version of the Sollerman test was used. Results obtained from the evaluation procedures provided insights into the exoskeleton performance and its efficacy. Preliminary conclusions are drawn based on the findings, and potential areas for further improvement are discussed. This research contributes to the development of an advanced soft robotic hand exoskeleton for rehabilitation and movement assistance, offering controlled flexion movements and improved functionality. This study demonstrates the potential of soft actuator technology in rehabilitation, presenting new possibilities for hand trauma recovery.

Development and Validation of a Self-Aligning Knee Exoskeleton With Hip Rotation Capability.

The self-aligning capability of an exoskeleton is important to ensure wearing comfort, and the delicate motion ability of the exoskeleton is essential for motion assistance. Designing a self-aligning exoskeleton that offers improved wearing comfort and enhanced motion-assistance functions remains a challenge. This paper proposes a novel spatial self-aligning mechanism for a knee exoskeleton to enable simultaneous assistance in the flexion and extension (FE) of the knee joint and the internal and external rotation (IER) of the hip joint. Additionally, considering the misalignment of the human-robot joint axes, a kinematic model of the knee exoskeleton is established and analyzed to demonstrate the kinematic compatibility of the exoskeleton. Furthermore, a global torque manipulability (GTM) index is proposed to evaluate the effects of dimensional parameters on the exoskeleton's performance, and then the knee exoskeleton is optimized according to the GTM index. Finally, experiments are conducted to validate the performance of the proposed exoskeleton. The experimental results show that during knee FE and hip IER, the proposed exoskeleton exhibits lower interaction forces and torques than existing exoskeletons.

Design and research on multi-sensory comfort data acquiring of tight sportswear in motion

This study aims to achieve intelligent monitoring of clothing comfort in motion, providing data and technical assistance for the research of comfort in motion and an efficient design foundation for sportswear comfort optimization. In view of the present situation of smart wear used in clothing comfort research, this paper primarily presents the construction of an acquisition system in motion, including temperature, humidity, and pressure data acquisition device, data pre-processing, data storage, and so on, which was called the ATHPD system for short. With the help of this acquisition system, tights in motion may now be tested for pressure, heat, and humidity for the first time. It can also transmit data wirelessly. Meanwhile, in order to verify the effectiveness of the acquisition system, by comparing the measurement data of the acquisition system (ATHPD system) with the measurement data of existing acquisition equipment (AMI3037 pressure measurement system, DS1923 button temperature and humidity recorder). The findings demonstrate that there is no significant difference between the data collected by the two methods, which proves the reliability of the acquisition system in this paper. The system guarantees the same quantity of temperature, humidity, and pressure data to be gathered at the same time and the consistency of the corresponding time points and also provides relevant data support for the evaluation and prediction model construction of human comfort in motion.

Kinematic Assessment of Upper Limb Movements using the ArmeoPower Robotic Exoskeleton.

After a neurological injury, neurorehabilitation aims to restore sensorimotor function of patients. Technological assessments can provide high-quality data on a patient's performance and support clinical decision making towards the most appropriate therapy. In this study, the ArmeoPower, a robotic exoskeleton for the upper extremities, was used to assess 12 neurological patients and 31 able-bodied participants performing various standardized single joint and frontal plane game-like exercises. From the collected data, kinematic metrics (End-Point Error, Hand-Path Ratio, reaction time, stability, Number of Velocity Peaks, peak, and mean Velocity) and the game score, were calculated and analyzed according to three criteria: the reliability (a), the difference between patients and able-bodied participants (b), as well as the influence of robotic movement assistance (c). In total, 39 metrics were analyzed and the following five most promising assessment variables for different exercises could be identified based on the three above-mentioned criteria: smoothness (RainMug (wrist)), mean speed (RainMug (wrist)), reaction time (Goalkeeper), maximum speed (HighFlyer (elbow)) and accuracy (Connect the dots), with the former showing good validity (rho=0.82, p=0.02) when comparing to the patient's severity level. The results demonstrate feasibility to extract and analyze various kinematic metrics from the ArmeoPower, which can provide quantitative information about human performance during training and therapy. The generated data increases the understanding of the patient's movement and can be used in the future in clinical research for better performance evaluation and providing more feedback options, leading towards a more personalized and patient-centric therapy.