The intrinsic soft nature of compliant supernumerary limbs and exosuits makes them appealing candidates for assisting human movements, with potential applications in healthcare, human augmentation and logistics. In the following chapter, we describe the technology used in exosuits and supernumerary limbs for assistance of activities of daily living, with emphasis on aiding grasping and flexion/ extension of the elbow joint. We discuss the mechanical design principles of such devices, detail the control paradigms that can be used for intention-detection and present the design and evaluation of cutaneous interfaces used for force feedback rendering. Tests on healthy and impaired subjects highlight that exosuits and supernumerary limbs are potential cost-effective and intrinsically safe solutions for increasing the capabilities of healthy subjects and improving the quality of life of subjects suffering from motor disorders.
|Titolo:||Soft wearable assistive robotics: exosuits and supernumerary limbs|
|Citazione:||Masia, L., Hussain, I., Xiloyannis, M., Pacchierotti, C., Cappello, L., Malvezzi, M., et al. (2018). Soft wearable assistive robotics: exosuits and supernumerary limbs. In Wearable Exoskeleton Systems: Design, control and applications (pp. 219-254). The Institution of Engineering and Technology.|
|Appare nelle tipologie:||2.1 Contributo in volume (Capitolo o Saggio)|
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|IET Chapter.pdf||European Union (EU), Horizon 2020 programme, European project “SoftPro: Synergy-based Open-source Foundations and Technologies for Prosthetics and RehabilitatiOn”, Research and innovation actions, Grant Agreement n. 688857. This paper is a postprint of a paper submitted to and accepted for publication in Wearable Exoskeleton Systems: Design, control and applications and is subject to Institution of Engineering and Technology Copyright. The copy of record is available at the IET Digital Library. Paper DOI 10.1049/pbce108e_ch10||Post-print||PUBBLICO - Pubblico con Copyright||Open Access Visualizza/Apri|