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Assistive Robotics in Healthcare
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Assistive Robotics in Healthcare

A special issue of Sensors (ISSN 1424-8220). This special issue belongs to the section "Biomedical Sensors".

Deadline for manuscript submissions: closed (25 January 2024) | Viewed by 7090

Special Issue Editors

Dr. Marcello Chiurazzi

E-Mail Website
Guest Editor
The BioRobotics Institute, Scuola Superiore Sant’Anna, 56025 Pisa, Italy
Interests: collaborative robotics; assistive robotics; circular economy; precision farming; sensors
Special Issues, Collections and Topics in MDPI journals
Dr. Dimitrios Giakoumis

E-Mail Website
Guest Editor
Centre for Research and Technology Hellas, Information Technologies Institute, 570 01 Thessaloniki, Greece
Interests: human–robot interaction; robot vision; service robot perception and cognition; activity and behavior analysis and modeling; safe and socially aware robot navigation
Special Issues, Collections and Topics in MDPI journals
Dr. Gastone Ciuti

E-Mail Website
Guest Editor
The BioRobotics Institute, Scuola Superiore Sant’Anna, 56025 Pisa, Italy
Interests: robot/computer-assisted platforms (i.e., teleoperated magnetic-based robotic platforms) for navigation; localization; and tracking of smart and innovative devices for guided; focused; and targeted minimally invasive surgery and diagnosis (e.g., in advanced capsule endoscopy and cardiovascular surgery)
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

In recent decades, rapid technological advancements have led to the development of several robotic devices and automated systems for human care. Such robotic devices cover a wide spectrum of human–robot interaction (HRI), from purely physical (e.g., prosthetics, wearables, exoskeletons) up to cognitive (e.g., service or companion robots). In this regard, sensing technology is critical for the successful perception, navigation, localization, and activation of robotic devices in dynamic, complex, and non-structured environments.

This Special Issue focuses on the development of robotics and automation technologies for assisting humans in medical applications.

Examples include biomedical applications empowered by robotic systems with various sensing technologies, e.g., vision-based sensors, wireless sensors, multisensor fusion, or fleet management. Such technologies will pave the way to patient-specific personalized assistance.

In this Special Issue, we expect contributions from a broad community of scientists working on a wide range of applications, including but not limited to the following topics of interest:

  • Robotic sensing systems and perception;
  • Bio-inspired sensing;
  • Multiagent system;
  • Human aware navigation;
  • Service robots and intelligent machines for human care;
  • Human–robot interaction (HRI).

Dr. Marcello Chiurazzi
Dr. Dimitrios Giakoumis
Dr. Gastone Ciuti
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. Sensors 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 2600 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

  • assistive robotics
  • human care and activity recognition
  • sensors for diagnosis
  • sensors for monitoring
  • multifunctional sensors
  • biocompatible sensors
  • multimodal sensor data fusion
  • robotic sensors and perception algorithms
  • robotic sensors and navigation/localization algorithms
  • wearable and implantable sensors
  • prosthetics and orthotics
  • exoskeletons

Published Papers (3 papers)

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Research

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19 pages, 1687 KiB  
Article
Myoelectric, Myo-Oxygenation, and Myotonometry Changes during Robot-Assisted Bilateral Arm Exercises with Varying Resistances
by Hsiao-Lung Chan, Ling-Fu Meng, Yung-An Kao, Ya-Ju Chang, Hao-Wei Chang, Szi-Wen Chen and Ching-Yi Wu
Sensors 2024, 24(4), 1061; https://doi.org/10.3390/s24041061 - 6 Feb 2024
Viewed by 834
Abstract
Robot-assisted bilateral arm training has demonstrated its effectiveness in improving motor function in individuals post-stroke, showing significant enhancements with increased repetitions. However, prolonged training sessions may lead to both mental and muscle fatigue. We conducted two types of robot-assisted bimanual wrist exercises on [...] Read more.
Robot-assisted bilateral arm training has demonstrated its effectiveness in improving motor function in individuals post-stroke, showing significant enhancements with increased repetitions. However, prolonged training sessions may lead to both mental and muscle fatigue. We conducted two types of robot-assisted bimanual wrist exercises on 16 healthy adults, separated by one week: long-duration, low-resistance workouts and short-duration, high-resistance exercises. Various measures, including surface electromyograms, near-infrared spectroscopy, heart rate, and the Borg Rating of Perceived Exertion scale, were employed to assess fatigue levels and the impacts of exercise intensity. High-resistance exercise resulted in a more pronounced decline in electromyogram median frequency and recruited a greater amount of hemoglobin, indicating increased muscle fatigue and a higher metabolic demand to cope with the intensified workload. Additionally, high-resistance exercise led to increased sympathetic activation and a greater sense of exertion. Conversely, engaging in low-resistance exercises proved beneficial for reducing post-exercise muscle stiffness and enhancing muscle elasticity. Choosing a low-resistance setting for robot-assisted wrist movements offers advantages by alleviating mental and physiological loads. The reduced training intensity can be further optimized by enabling extended exercise periods while maintaining an approximate dosage compared to high-resistance exercises. Full article
(This article belongs to the Special Issue Assistive Robotics in Healthcare)
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35 pages, 6505 KiB  
Article
Design and Control of a Single-Leg Exoskeleton with Gravity Compensation for Children with Unilateral Cerebral Palsy
by Mohammadhadi Sarajchi and Konstantinos Sirlantzis
Sensors 2023, 23(13), 6103; https://doi.org/10.3390/s23136103 - 2 Jul 2023
Cited by 7 | Viewed by 4737
Abstract
Children with cerebral palsy (CP) experience reduced quality of life due to limited mobility and independence. Recent studies have shown that lower-limb exoskeletons (LLEs) have significant potential to improve the walking ability of children with CP. However, the number of prototyped LLEs for [...] Read more.
Children with cerebral palsy (CP) experience reduced quality of life due to limited mobility and independence. Recent studies have shown that lower-limb exoskeletons (LLEs) have significant potential to improve the walking ability of children with CP. However, the number of prototyped LLEs for children with CP is very limited, while no single-leg exoskeleton (SLE) has been developed specifically for children with CP. This study aims to fill this gap by designing the first size-adjustable SLE for children with CP aged 8 to 12, covering Gross Motor Function Classification System (GMFCS) levels I to IV. The exoskeleton incorporates three active joints at the hip, knee, and ankle, actuated by brushless DC motors and harmonic drive gears. Individuals with CP have higher metabolic consumption than their typically developed (TD) peers, with gravity being a significant contributing factor. To address this, the study designed a model-based gravity-compensator impedance controller for the SLE. A dynamic model of user and exoskeleton interaction based on the Euler–Lagrange formulation and following Denavit–Hartenberg rules was derived and validated in Simscape™ and Simulink® with remarkable precision. Additionally, a novel systematic simplification method was developed to facilitate dynamic modelling. The simulation results demonstrate that the controlled SLE can improve the walking functionality of children with CP, enabling them to follow predefined target trajectories with high accuracy. Full article
(This article belongs to the Special Issue Assistive Robotics in Healthcare)
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Review

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24 pages, 5466 KiB  
Review
Endoluminal Procedures and Devices for Esophageal Tract Investigation: A Critical Review
by Giorgia Spreafico, Marcello Chiurazzi, Davide Bagnoli, Sergio Emiliani, Nicola de Bortoli and Gastone Ciuti
Sensors 2023, 23(21), 8858; https://doi.org/10.3390/s23218858 - 31 Oct 2023
Viewed by 977
Abstract
Diseases of the esophageal tract represent a heterogeneous class of pathological conditions for which diagnostic paradigms continue to emerge. In the last few decades, innovative diagnostic devices have been developed, and several attempts have been made to advance and standardize diagnostic algorithms to [...] Read more.
Diseases of the esophageal tract represent a heterogeneous class of pathological conditions for which diagnostic paradigms continue to emerge. In the last few decades, innovative diagnostic devices have been developed, and several attempts have been made to advance and standardize diagnostic algorithms to be compliant with medical procedures. To the best of our knowledge, a comprehensive review of the procedures and available technologies to investigate the esophageal tract was missing in the literature. Therefore, the proposed review aims to provide a comprehensive analysis of available endoluminal technologies and procedures to investigate esophagus health conditions. The proposed systematic review was performed using PubMed, Scopus, and Web of Science databases. Studies have been divided into categories based on the type of evaluation and measurement that the investigated technology provides. In detail, three main categories have been identified, i.e., endoluminal technologies for the (i) morphological, (ii) bio-mechanical, and (iii) electro-chemical evaluation of the esophagus. Full article
(This article belongs to the Special Issue Assistive Robotics in Healthcare)
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