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Actuators
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Soft Exoskeleton and Supernumerary Limbs for Human Augmentation
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Soft Exoskeleton and Supernumerary Limbs for Human Augmentation

A special issue of Actuators (ISSN 2076-0825). This special issue belongs to the section "Actuators for Medical Instruments".

Deadline for manuscript submissions: closed (20 November 2022) | Viewed by 8668

Special Issue Editors

Prof. Dr. Yuichi Kurita

E-Mail Website
Guest Editor
Graduate School of Advanced Science and Engineering, Hiroshima University, Hiroshima, Japan
Interests: human augmentation; haptics; human–computer interaction; human interface; physical human–robot interaction; wearable assistive devices
Special Issues, Collections and Topics in MDPI journals
Prof. Dr. Takayuki Tanaka

E-Mail Website
Guest Editor
Faculty of Information Science and Technology, Hokkaido University, Sapporo, Japan
Interests: mobile robot; wearable robot; human-machine system

Special Issue Information

Dear Colleagues,

Human augmentation is an academic research field that aims to enhance, promote, and expand a person's abilities, not only to supplement or compensate for missing abilities or to maintain abilities. The services expected from human-enhancing machines and tools are not limited to the extension of motor, sensory, and cognitive abilities of a person, or the extension of skills and work performance in using machines and tools, but also include the development of communication, education, training, medical care, and nursing care based on a long-term understanding of the relationships between people and people, and between people and tools.

Prof. Dr. Yuichi Kurita
Prof. Dr. Takayuki Tanaka
Guest Editor

Manuscript Submission Information

Manuscripts should be submitted online at www.mdpi.com by registering and logging in to this website. Once you are registered, click here to go to the submission form. Manuscripts can be submitted until the deadline. All submissions that pass pre-check are peer-reviewed. Accepted papers will be published continuously in the journal (as soon as accepted) and will be listed together on the special issue website. Research articles, review articles as well as short communications are invited. For planned papers, a title and short abstract (about 100 words) can be sent to the Editorial Office for announcement on this website.

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. Actuators is an international peer-reviewed open access monthly journal published by MDPI.

Please visit the Instructions for Authors page before submitting a manuscript. The Article Processing Charge (APC) for publication in this open access journal is 2400 CHF (Swiss Francs). Submitted papers should be well formatted and use good English. Authors may use MDPI's English editing service prior to publication or during author revisions.

Keywords

  • augmentation of human health through digital technologies
  • augmented sport
  • bionic systems for amplification and augmentation of human abilities
  • co-robots for human augmentation
  • digital technologies for physical, cognitive, mental, and perceptional augmentation
  • exoskeletons and assistive devices for the amplification of human physical strength and physiological sensing
  • implanted technologies and interfaces
  • sensing for context awareness
  • sensors and actuators for smart artifacts and smart textiles
  • supernumerary robotic limbs
  • technologies to improve human experience and to reduce stress
  • tele-manipulation and tele-existence using robotics technology
  • training and rehabilitation technology
  • wearable computing and ubiquitous computing for augmenting human capabilities

Published Papers (3 papers)

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Research

21 pages, 5616 KiB  
Article
Design of Guided Bending Bellows Actuators for Soft Hand Function Rehabilitation Gloves
by Dehao Duanmu, Xiaojun Wang, Xiaodong Li, Zheng Wang and Yong Hu
Actuators 2022, 11(12), 346; https://doi.org/10.3390/act11120346 - 25 Nov 2022
Cited by 5 | Viewed by 2747
Abstract
This study developed a soft pneumatic glove actuated by elliptical cross-sectional guided bending bellows to augment finger-knuckle rehabilitation for patients with hand dysfunction. The guided bending bellows actuators (GBBAs) are made of thermoplastic elastomer (TPE) materials, demonstrating the necessary air tightness as a [...] Read more.
This study developed a soft pneumatic glove actuated by elliptical cross-sectional guided bending bellows to augment finger-knuckle rehabilitation for patients with hand dysfunction. The guided bending bellows actuators (GBBAs) are made of thermoplastic elastomer (TPE) materials, demonstrating the necessary air tightness as a pneumatic actuator. The GBBAs could produce different moments of inertia when increasing internal air pressure drives the GBBAs bending along distinct symmetry planes and exhibits anisotropic kinematic bending performance. Actuated by GBBAs, wearable soft rehabilitation gloves can be used for daily rehabilitation training of hand dysfunction to enhance the range of motion of the finger joint. To control each finger of the gloves independently to achieve the function of manipulating gestures, a multi-channel pneumatic control system is designed, and each air circuit is equipped with an air-pressure sensor to make adjustments based on feedback. Compared with general soft robotic exoskeleton gloves currently used for hand dysfunction, the GBBAs actuated soft gloves have the advantage of enhancing the rehabilitation strength, finger movement range, and multi-action coordination applied with guided bending bellows actuators. Full article
(This article belongs to the Special Issue Soft Exoskeleton and Supernumerary Limbs for Human Augmentation)
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14 pages, 2289 KiB  
Article
Robotic Knee Prosthesis with Cycloidal Gear and Four-Bar Mechanism Optimized Using Particle Swarm Algorithm
by Mouaz Al Kouzbary, Hamza Al Kouzbary, Jingjing Liu, Taha Khamis, Zaina Al-Hashimi, Hanie Nadia Shasmin, Nooranida Arifin and Noor Azuan Abu Osman
Actuators 2022, 11(9), 253; https://doi.org/10.3390/act11090253 - 1 Sep 2022
Cited by 2 | Viewed by 2579
Abstract
A powered transfemoral prosthesis is needed as people with transfemoral amputation show 60 percent extra metabolic cost when compared to people with no amputation. Recently, as illustrated in the literature, the most high-torque robotic knee prosthesis utilize harmonic reducers. Despite the advantage of [...] Read more.
A powered transfemoral prosthesis is needed as people with transfemoral amputation show 60 percent extra metabolic cost when compared to people with no amputation. Recently, as illustrated in the literature, the most high-torque robotic knee prosthesis utilize harmonic reducers. Despite the advantage of high reduction ratio and efficiency, the harmonic drive cannot be back-driven. Therefore, the harmonic drive is not an optimal solution for prosthetic systems with direct and indirect contact with the environment. In this paper, we outline an initial design of robotic knee prosthesis. The proposed robotic knee prosthesis consists of BLDC motor, cycloidal gear with reduction ratio 13:1, four-bar mechanism, and timing belt transmission with 4:1 reduction ratio. To optimize the torque transmission and range of motion (RoM), a multiobjective optimization problem must be undertaken. The end-effector motion depends on each bar length in the four-bar mechanism. The four-bar mechanism was optimized using particle swarm optimization (PSO). To complete the optimization, a set of 50 steps was collected using wearable sensors. Then, the data of sagittal plan were processed to identify the target profile for PSO. The prototype’s computer-aided manufacturing (CAM) was completed using a MarkTwo 3D printer with carbon fiber composite. The overall design can achieve a maximum torque of 84 N.m. However, the current design lacks the elastic component (no spring is added on the actuator output), which is necessary for a functional prosthesis; this limitation will be addressed in future study. Full article
(This article belongs to the Special Issue Soft Exoskeleton and Supernumerary Limbs for Human Augmentation)
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9 pages, 1136 KiB  
Communication
Effect of Wearing Running Shoes on Lower Limb Kinematics by Using OpenSim Simulation Software
by Gunarajulu Renganathan, Hamidreza Barnamehei, Swagata Das and Yuichi Kurita
Actuators 2022, 11(6), 152; https://doi.org/10.3390/act11060152 - 6 Jun 2022
Cited by 7 | Viewed by 2433
Abstract
(1) Flatfoot is a common malformation in both children and adults, in which a proper arch fails to develop. This study aimed to see how over-the-counter running shoes improved the gait patterns of flatfoot patients. (2) Methods: Three healthy flatfoot subjects were included [...] Read more.
(1) Flatfoot is a common malformation in both children and adults, in which a proper arch fails to develop. This study aimed to see how over-the-counter running shoes improved the gait patterns of flatfoot patients. (2) Methods: Three healthy flatfoot subjects were included in the study. Flatfoot was diagnosed by a lateral talometatarsal angle of more than 4 degrees and a talocalcaneal angle of more than 30 degrees. All the patient data were captured using Vicon motion caption cameras. The subjects were allowed to walk at self-selected speeds with and without running shoes. (3) Results: Significant differences in lower limb kinematics were observed between barefoot and running shoe gait. In addition, by wearing the running shoes, the center of mass and lower limb kinematics changed. (4) Conclusion: The improvement in balance and control was clearly indicated, and the change in gait on the entire lower limb influenced normalizing the stresses of the foot with running shoes. These valuable results can be used for rehabilitation programs. Full article
(This article belongs to the Special Issue Soft Exoskeleton and Supernumerary Limbs for Human Augmentation)
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