| 1. |
- Singh Rupal, Baltej, et al.
(författare)
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Lower-limb exoskeletons : Research trends and regulatory guidelines in medical and non-medical applications
- 2017
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Ingår i: International Journal of Advanced Robotic Systems. - : Sage Publications. - 1729-8806 .- 1729-8814. ; 14:6, s. 1-27
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Forskningsöversikt (refereegranskat)abstract
- With the recent progress in personal care robots, interest in wearable exoskeletons has been increasing due to the demand for assistive technologies generally and specifically to meet the concerns in the increasing ageing society. Despite this global trend, research focus has been on load augmentation for soldiers/workers, assisting trauma patients, paraplegics, spinal cord injured persons and for rehabilitation purposes. Barring the military-focused activities, most of the work to date has focused on medical applications. However, there is a need to shift attention towards the growing needs of elderly people, that is, by realizing assistive exoskeletons that can help them to stay independent and maintain a good quality of life. Therefore, the present article covers the rapidly evolving area of wearable exoskeletons in a holistic manner, for both medical and non-medical applications, so that relevant current developments and future issues can be addressed; this includes how the physical assistance/rehabilitation/compensation can be provided to supplement capabilities in a natural manner. Regulatory guidelines, important for realizing new markets for these emerging technologies, are also explored in this work. For these, emerging international safety requirements are presented for non-medical and medical exoskeleton applications, so that the central requirement of close human–robot interactions can be adequately addressed for the intended tasks to be carried out. An example case study on developing and commercializing wearable exoskeletons to help support living activities of healthy elderly persons is presented to highlight the main issues in non-medical mobility exoskeletons. This also paves the way for the potential future trends to use exoskeletons as physical assistant robots, as covered by the recently published safety standard ISO 13482, to help elderly people perform their activities of daily living.
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| 2. |
- Christensen, Simon, et al.
(författare)
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AXO-SUIT : A Modular Full-Body Exoskeleton for Physical Assistance
- 2019
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Ingår i: Mechanism Design for Robotics. - Cham : Springer Netherlands. - 9783030003647 - 9783030003654 ; , s. 443-450
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Bokkapitel (refereegranskat)abstract
- This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close-end-user involvement are outlined and used in realizing the exoskeleton. Design of the resulting mechanics and electronics details for the lower and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. TheFB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.
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| 3. |
- Haider, Usman, et al.
(författare)
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Modular Exo-Legs For Mobility Of Elderly Persons
- 2016
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Ingår i: Advances in Cooperative Robotics. - Singapore : WORLD SCIENTIFIC. - 9789813149120 - 9789813149144 ; , s. 851-859
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Konferensbidrag (övrigt vetenskapligt/konstnärligt)abstract
- The paper presents details of the AAL Call 4 EXO-LEGS project aimed at developing and testing lower body assistive exoskeletons to help elderly persons perform daily living activities independently such as stable standing, sit-to-stand transfers, and straight walking. The key components needed have been realized using mobility requirements and design preferences provided by an end-user group comprising 117 members via 5 surveys. Modular human-centric concepts are followed for mechanical design, sensing, and actuation, system integration, etc., to realize a BASIC exoskeleton prototype able to provide up to 30% power to assist the human perform the intended motions. Two ethical approvals have been obtained to involve end-users in the research, development, and test phases of the project. To date, 5 test subjects have tested the exoskeleton prototype in walking and sit-to-stand test; summary results are presented in this paper
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| 4. |
- O’Sullivan, Leonard, et al.
(författare)
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End user needs elicitation for a full-body exoskeleton to assist the elderly
- 2015
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Ingår i: 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015) and the affiliated conferences. - Amsterdam : Elsevier. ; , s. 1403-1409
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Konferensbidrag (refereegranskat)abstract
- For ageing individuals, declining physical functional capacity can lead to loss of independence, decreased engagement in the community and reductions in quality of life. As such, solutions that can effectively and affordably supplement older adults’ diminishing functional capacity, and thus facilitate maintained independence and social participation over time are urgently required. The AXO-SUIT project - funded by the European Commission under the Ambient Assisted Living Joint Programme is developing assistive exoskeleton devices for older adults with impaired mobility and/or difficulties in performingactivities of daily living. This paper will report on-going research which aims to identify end user needs, and thus provide inputs to specify the design requirements of the AXO-SUIT exoskeletons. The objectives of this initial questionnaire study are to identify the functional assistance requirements of potential end users of the AXO-SUIT in terms of mobility, reaching and handling, and full-body support for performing activities of daily livingat home and in the wider community. The end user requirements identified will be used to formulate functional specifications for the AXO-SUIT lower-body and upper-body sub-systems, which will ensure that the AXO-SUIT prototypes will provide for the specific mobility, reaching and handling needs of end users, and also to provide useful insights into the perspectives and needs of end users in relation to assistive exoskeletons in general.
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| 5. |
- Villaronga, E. F., et al.
(författare)
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Legal issues for mobile servant robots
- 2017
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Ingår i: 25th International Conference on Robotics in Alpe-Adria-Danube Region, RAAD 2016. - Cham : Springer. - 9783319490571 - 9783319490588 ; , s. 605-612
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Konferensbidrag (refereegranskat)abstract
- This paper identifies key legal issues which are emerging for Mobile Servant Robots (MSRs), a sub-type of Personal Care Robots (PCR) defined in ISO 13482. New cases are likely to be introduced in the market soon even though appropriate and specific binding legal regulations regarding MSRs are missing and several questions need to be carefully considered. The main issues of concern are the need for a concrete and holistic definition of MSR, clarification on the confusion among new emerging ISO/IEC robot categories (especially between boundaries and gaps in machinery with medical device regulations), unclear liability scenarios (avoiding harm, prospective liability, butterfly effect), defining and regulating human-robot collaborations and relationships, ethical issues (mass surveillance, post-monitoring personal data), autonomy (from the robot but also from the user perspective), isolation scenarios, etc. Despite the recent technical advances, there is still a long way ahead and further research is needed to overcome a variety of associated legal and ethical issues which are emerging.
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| 6. |
- Virk, Gurvinder Singh, et al.
(författare)
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Design of EXO-LEGS exoskeletons
- 2016
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Ingår i: Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015. - 9789814725231 ; , s. 59-66
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Konferensbidrag (refereegranskat)abstract
- The paper describes the design details for realising the EXO-LEGS assistive exoskeletons for Ambient Assisted Living (AAL) applications based on modelling and simulation studies performed for key mobility functionalities in activities for daily living such as stable standing in open space and straight walking. The results provide the basis for selecting sensors and actuators to develop the needed assistive exoskeletons to help the elderly to stay active and independent for as long as possible.
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| 7. |
- Virk, Gurvinder Singh, et al.
(författare)
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Iso Modularity for Service Robots
- 2017
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Ingår i: Advances in Cooperative Robotics. - Singapore : WORLD SCIENTIFIC. - 9789813149120 - 9789813149144 ; , s. 663-671
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Konferensbidrag (refereegranskat)abstract
- Robot modularity has been an active area of research for several years and many innovative solutions have been developed which have as yet, not made significant impact on the world stage. To assist market developments, ISO robot modularity standardization was started in 2012 and the current paper presents an overview of the work to develop plug-n-play robot module specifications for service robots. Key definitions are presented together with generic modularization issues which have been identified for service robots.
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| 8. |
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Wearable Sensors and Robots : Proceedings of International Conference on Wearable Sensors and Robots 2015
- 2017
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Proceedings (redaktörskap) (refereegranskat)abstract
- These proceedings present the latest information on regulations and standards for medical and non-medical devices, including wearable robots for gait training and support, design of exoskeletons for the elderly, innovations in assistive robotics, and analysis of human–machine interactions taking into account ergonomic considerations. The rapid development of key mechatronics technologies in recent years has shown that human living standards have significantly improved, and the International Conference on Wearable Sensor and Robot was held in Hangzhou, China from October 16 to 18, 2015, to present research mainly focused on personal-care robots and medical devices. The aim of the conference was to bring together academics, researchers, engineers and students from across the world to discuss state-of-the-art technologies related to various aspects of wearable sensors and robots.
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