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Designs
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Design and Control of Collaborative Robotic Solutions and Wearable Assistive...
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Design and Control of Collaborative Robotic Solutions and Wearable Assistive Robots to Enhance Human Capabilities

A special issue of Designs (ISSN 2411-9660). This special issue belongs to the section "Electrical Engineering Design".

Deadline for manuscript submissions: closed (20 November 2021) | Viewed by 19343

Special Issue Editors

Dr. Loris Roveda

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Guest Editor
Istituto Dalle Molle di studi sull’Intelligenza Artificiale (IDSIA), Scuola Universitaria Professionale della Svizzera Italiana (SUPSI), Università della Svizzera Italiana (USI) IDSIA-SUPSI, 6928 Manno, Switzerland
Interests: control theory; industrial robots; optimization; artificial intelligence; robot control; task learning; dynamics modeling; dynamics identification; human–robot collaboration
Prof. Dr. Giovanni Legnani

E-Mail Website
Guest Editor
1. Department of Mechanical and Industrial Engineering, University of Brescia, 25123 Brescia, Italy
2. Institute of Intelligent Industrial Technologies and Systems for Advanced Manufacturing, National Research Council, 20133 Milan, Italy
Interests: biomechanics of human motion; rehabilitation systems; robot kinematics; dynamics; control; calibration; mechanisms kinematics and dynamics
Special Issues, Collections and Topics in MDPI journals
Dr. Jesús Ortiz

E-Mail Website
Guest Editor
Advanced Robotics, Istituto Italiano di Tecnologia, via Morego, 30, 16163 Genova, Italy
Interests: exoskeletons; wearable robotics; exosuits; rehabilitation; mechatronics; human–robot interaction
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

Assisting and empowering humans in daily activities is urgently required in all application areas (industry, rehabilitation, etc.). Collaborative robots and exoskeletons are becoming intensively adopted, and there is a need to refine both design and control methodologies in order to achieve high performance and improve usability, to finally effectively apply such solutions in real applications. Advanced solutions are nowadays available for actuation, design solutions, and control algorithms, but many challenges are still present in such device development. This Special Issue aims to cover the current developments in the field, with a specific focus on actuation, mechanical/electrical design, and advanced control. Contributions from different application fields are welcome.

Dr. Loris Roveda
Prof. Dr. Giovanni Legnani
Dr. Jesús Ortiz
Guest Editors

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. Designs is an international peer-reviewed open access semimonthly 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 1600 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

  • Collaborative robots design
  • Exoskeletons design
  • Compliant actuation design
  • Collaborative robot control
  • Exoskeletons control
  • Compliant actuation control
  • Human–robot collaboration
  • Human–robot sharing control
  • Industry 4.0
  • Assistive robotics
  • Empowering humans
  • Human-centered robotics

Published Papers (4 papers)

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Research

23 pages, 6449 KiB  
Article
Assistive Devices: Technology Development for the Visually Impaired
by Jorge Rodolfo Beingolea, Miguel A. Zea-Vargas, Renato Huallpa, Xiomara Vilca, Renzo Bolivar and Jorge Rendulich
Designs 2021, 5(4), 75; https://doi.org/10.3390/designs5040075 - 27 Nov 2021
Cited by 4 | Viewed by 4071
Abstract
Technology has been contributing significantly to the development of assistive devices for disabled persons (DPs). Many of these devices aim to assist people who are blind or visually impaired, providing them with friendlier ways to interact with their surroundings (obstacles, objects, and navigation). [...] Read more.
Technology has been contributing significantly to the development of assistive devices for disabled persons (DPs). Many of these devices aim to assist people who are blind or visually impaired, providing them with friendlier ways to interact with their surroundings (obstacles, objects, and navigation). However, the high cost of these devices makes it difficult for DPs to purchase them. The development of an assistive device kit to be used by the visually impaired in controlled environments (indoor) or urban spaces (outdoor) is presented in this work with a didactic and detailed approach. This low-cost kit (USD 50 per device) consists of a Smart Cane, Smart Cap, and Smart Glove. The methodology addressed aims to support and encourage the reproduction, customization, and manufacture of new assistive devices with low cost and wide applicability. The devices are functional, benefit usability, and, due to the characteristics of the project and the materials used in their construction, do not impact the ergonomics of the visually impaired or disabled person who may use these devices. The devices that integrate the assistive kit can be used independently or combined. In addition to having detection, fall-control, navigation, and real-time tracking functions, they are independent of additional local infrastructure for their use. Full article
(This article belongs to the Special Issue Design and Control of Collaborative Robotic Solutions and Wearable Assistive Robots to Enhance Human Capabilities)
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17 pages, 13799 KiB  
Article
Smart Monitoring Pad for Prediction of Pressure Ulcers with an Automatically Activated Integrated Electro-Therapy System
by Zeena Sh. Saleh, Auns Qusai Al-Neami and Haider K. Raad
Designs 2021, 5(3), 47; https://doi.org/10.3390/designs5030047 - 29 Jul 2021
Cited by 8 | Viewed by 6030
Abstract
Pressure ulcers (PU) are deep scars on the skin that cause pain, infections and severe health complications. Most movement-impaired subjects are vulnerable to PU, leading to permanent and irreversible skin damage. The system proposed in this paper aims to prevent PU formation with [...] Read more.
Pressure ulcers (PU) are deep scars on the skin that cause pain, infections and severe health complications. Most movement-impaired subjects are vulnerable to PU, leading to permanent and irreversible skin damage. The system proposed in this paper aims to prevent PU formation with the design and implementation of a wirelessly controlled device that predicts PUs before their occurrence and attempts to prevent it using therapeutic feedback. A flexible pad that consists of multiple types of sensors is used, theses sensors continuously and non-invasively monitor ulcer-related vital signs in vulnerable areas, and uses these data to predict PU with a decision-making process. When PU is detected an electrical stimulation (ES) unit is automatically activated. Stimulation prevents PU formation by increasing local blood flow to the simulated area and eliminating the main factor that leads to PU formation. The system successfully monitored and predicted PU; tests were performed on three healthy volunteers and one volunteer with sacral ulcers. Results including readings of blood oxygenation, force, humidity and temperature were recorded as graphs to monitor decay/increase in values more efficiently. Full article
(This article belongs to the Special Issue Design and Control of Collaborative Robotic Solutions and Wearable Assistive Robots to Enhance Human Capabilities)
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22 pages, 5929 KiB  
Article
Usability Study through a Human-Robot Collaborative Workspace Experience
by Alejandro Chacón, Pere Ponsa and Cecilio Angulo
Designs 2021, 5(2), 35; https://doi.org/10.3390/designs5020035 - 28 May 2021
Cited by 12 | Viewed by 4183
Abstract
The use of collaborative robots (cobots) in industrial and academic settings facilitates physical and cognitive interaction with operators. This framework is a challenge to determine how measures on concepts, such as usability, can be adapted to these new environments. Usability is a quality [...] Read more.
The use of collaborative robots (cobots) in industrial and academic settings facilitates physical and cognitive interaction with operators. This framework is a challenge to determine how measures on concepts, such as usability, can be adapted to these new environments. Usability is a quality attribute prevalent in the field of human-computer interaction concerning the context of use and the measure of effectiveness, efficiency, and satisfaction of products and systems. In this work, the importance of the role of benchmarking usability with collaborative robots is discussed. The introduced approach is part of a general methodology for studying people and robots’ performance in collaboration. It is being designed and developed on a concrete experience into a human-robot collaborative workspace. Outcomes from the study include a list of steps, resources, recommendations, and some customized questionnaires to obtain cobot-oriented usability analysis and case study results. Full article
(This article belongs to the Special Issue Design and Control of Collaborative Robotic Solutions and Wearable Assistive Robots to Enhance Human Capabilities)
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20 pages, 2789 KiB  
Article
Bond Graph Modeling and Kalman Filter Observer Design for an Industrial Back-Support Exoskeleton
by Erfan Shojaei Barjuei, Darwin G. Caldwell and Jesús Ortiz
Designs 2020, 4(4), 53; https://doi.org/10.3390/designs4040053 - 04 Dec 2020
Cited by 16 | Viewed by 4017
Abstract
This paper presents a versatile approach to the synthesis and design of a bond graph model and a Kalman filter observer for an industrial back-support exoskeleton. Actually, the main purpose of developing a bond graph model is to investigate and understand better the [...] Read more.
This paper presents a versatile approach to the synthesis and design of a bond graph model and a Kalman filter observer for an industrial back-support exoskeleton. Actually, the main purpose of developing a bond graph model is to investigate and understand better the system dynamics. On the other hand, the design of the Kalman observer always should be based on a model providing an adequate description of the system dynamics; however, when back-support exoskeletons are considered, the synthesis of a state observer becomes very challenging, since only nonlinear models may be adopted to reproduce the system dynamic response with adequate accuracy. The dynamic modeling of the exoskeleton robotic platform, used in this work, comprises an electrical brushless DC motor, gearbox transmission, torque sensor and human trunk (biomechanical model). On this basis, a block diagram model of the dynamic system is presented and an experimental test has been carried out for identifying the system parameters accordingly. Both the block diagram and bond graph dynamic models are simulated via MATLAB and 20-sim software (bond graph simulation software) respectively. Furthermore, the possibility of employing the Kalman filter observer together with a suitable linear model is investigated. Subsequently, the performance of the proposed Kalman observer is evaluated in a lifting task scenario with the use of a linear quadratic regulator (LQR) controller with double integral action. Finally, the most important simulation results are presented and discussed. Full article
(This article belongs to the Special Issue Design and Control of Collaborative Robotic Solutions and Wearable Assistive Robots to Enhance Human Capabilities)
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