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.

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 [10.1049/pbce108e_ch10].

Soft wearable assistive robotics: exosuits and supernumerary limbs

M. MALVEZZI;G. SPAGNOLETTI;M. POZZI;D. PRATTICHIZZO
2018-01-01

Abstract

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.
2018
9781785613036
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 [10.1049/pbce108e_ch10].
File in questo prodotto:
File Dimensione Formato  
IET Chapter.pdf

accesso aperto

Descrizione: 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
Tipologia: Post-print
Licenza: PUBBLICO - Pubblico con Copyright
Dimensione 2.06 MB
Formato Adobe PDF
2.06 MB Adobe PDF Visualizza/Apri

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11365/1060504