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New Trends in Exoskeleton Robot

A special issue of Applied Sciences (ISSN 2076-3417). This special issue belongs to the section "Robotics and Automation".

Deadline for manuscript submissions: 20 August 2025 | Viewed by 970

Special Issue Editors


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Guest Editor
Mechatronical Engineering School, Beijing Institute of Technology, Beijing 10008, China
Interests: exoskeleton robot power mechanism; human motion science; human motion intention recognition

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Guest Editor
Faculty of Medical Sciences and Engineering, Beihang University, Beijing 100191, China
Interests: rehabilitation medicine engineering; biomechanics

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Guest Editor
School of Engineering, Macquarie University, Sydney, NSW 2109, Australia
Interests: drones; robots; swarm drones; swarm robotics; IoT; smart sensors; mechatronics
Special Issues, Collections and Topics in MDPI journals

Special Issue Information

Dear Colleagues,

The exoskeleton robot, designed to enhance human walking and working capabilities, has been widely researched in the industrial, clinical, and military fields. There are many kinds of exoskeleton robots such as rigid- and soft-exoskeleton robots, both of which are designed to reduce the subjects’ working loads or metabolic energy. Mechanical engineering, control engineering and human factor engineering are involved in exoskeleton design. The mechanical design should achieve the load wearing function and guarantee flexibility in human movement. The control strategy should allow for human–robot coordinate movement, which involves human movement intention recognition and exoskeleton control methods. Human movement intention recognition involves motion pattern recognition and gait phase recognition. Many methods have been developed to recognize human motion patterns, especially those based on machine learning such as LSTM, CNN and so on. However, most of the methods are developed offline and have not been established in the exoskeleton-embedded system. Online human movement recognition is more important during control. Furthermore, the control effect on the embedded system should also be determined. The evaluation of exoskeleton effects on humans is also important during control strategy optimization. The heart rate (HR), metabolic rate and muscle activation of humans, as well as the interactive forces between human and exoskeleton, are used as the evaluation factors. However, the relationship between these factors and human subjective feeling has not been studied; thus, it should be researched in the future.

Dr. Yali Liu
Dr. Xinyu Guan
Prof. Dr. Subhas Mukhopadhyay
Guest Editors

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Keywords

  • mechanical design of exoskeleton
  • human motion pattern recognition
  • gait phase recognition
  • human–robot coordinate control
  • effect evaluation of exoskeleton

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Published Papers (1 paper)

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Research

18 pages, 7357 KiB  
Article
Validation of Cable-Driven Experimental Setup to Assess Movements Made with Elbow Joint Assistance
by Sreejan Alapati, Deep Seth, Sanjeevi Nakka and Yannick Aoustin
Appl. Sci. 2025, 15(4), 1892; https://doi.org/10.3390/app15041892 - 12 Feb 2025
Viewed by 540
Abstract
This article investigates a cable-driven experimental setup to simulate elbow joint assistance in the sagittal plane provided by an exosuit. Cable-driven exosuits, particularly fabric-based designs, significantly enhance rehabilitation by enabling targeted joint exercises and promoting functional recovery. To achieve an optimal design, these [...] Read more.
This article investigates a cable-driven experimental setup to simulate elbow joint assistance in the sagittal plane provided by an exosuit. Cable-driven exosuits, particularly fabric-based designs, significantly enhance rehabilitation by enabling targeted joint exercises and promoting functional recovery. To achieve an optimal design, these devices require an analysis of the cable tension, reaction forces, and moments and their dependency on the anchor position. This study presents a cable-driven experimental setup with two rigid bars and variable anchor positions, designed to mimic the human forearm, upper arm, and elbow joint, to evaluate the performance of a potential cable-driven exosuit. Based on the experimental setup, a static model was developed to validate the measured cable tension and estimate the reaction force at the joint and the moments at the anchor positions. Furthermore, based on the observations, an optimization problem was defined to identify optimal anchor positions to improve the exosuit’s design. The optimal position on the forearm and upper arm is studied between 15% and 50% distance from the elbow joint. Our findings suggest that prioritizing user comfort requires both anchor points to be as far away from the elbow joint as possible, i.e., 50% distance, whereas, for optimal exosuit performance, the forearm anchor position can be adjusted based on the joint angle while keeping the upper arm anchor position at the farthest point. The findings in the current work can be used to decide the anchor point position for designing an elbow exosuit. Full article
(This article belongs to the Special Issue New Trends in Exoskeleton Robot)
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