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Biomimetics
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Advanced Service Robots: Exoskeleton Robots
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Advanced Service Robots: Exoskeleton Robots

A special issue of Biomimetics (ISSN 2313-7673). This special issue belongs to the section "Locomotion and Bioinspired Robotics".

Deadline for manuscript submissions: closed (10 January 2024) | Viewed by 8439

Special Issue Editors

Dr. Wendong Wang

E-Mail Website
Guest Editor
School of Mechanical Engineering, Northwestern Polytechnical University, Xi'an, China
Interests: wearable robots; exoskeleton robots; human–robot interaction
Prof. Dr. Xiaojie Wang

E-Mail Website
Guest Editor
Hefei Institutes of Physical Sciences, Chinese Academy of Sciences, Hefei, China
Interests: bio-inspired robots; smart materials; sensors/actuators; mechatronic systems

Special Issue Information

Dear Colleagues,

This proposed Special Issue aims to present the latest research advances and the future trends in the development of exoskeleton robots for motion assistance and rehabilitation. Exoskeleton robots have the potential to revolutionize various industries, such as healthcare, rehabilitation, and industry, by augmenting human capabilities and enabling new applications. Over the last decades and despite the significant technological and scientific achievements in the field of exoskeleton technologies. However, the evaluation of exoskeleton robots is still an open challenge without a unified standard.

Advanced learning and control technologies applied to human–robot physical interaction defines an interdisciplinary research field aiming to improve the interaction ability between humans and robots. This topic covers a wide range of areas, including robotics, sensor technology, mechanics, human–robot interaction, Artificial Intelligence, computer vision, and advanced control technology. The new developments under this topic play significant roles in robotic applications in both industry and other sectors, making robots work more efficiently, safely, and reliably. Intelligence is one of the most important key features of wearable robots.

This issue will highlight the interdisciplinary nature of wearable robotics and explore topics such as sensor technologies, bio-inspired design, human–robot interaction, control algorithms, real-world applications, and future directions. It aims to bring together researchers, practitioners, and industry experts to share their findings and insights, and discuss the significance and potential of wearable robots in enhancing human–robot collaboration.

Topics in academic research and industry include but are not limited to:

  • Wearable robots for assistance, augmentation, and rehabilitation of human movements;
  • Design of a lightweight wearable robot;
  • Intelligent control algorithm for an exoskeleton robot;
  • Multi-mode information sensing;
  • Human–robot mixed intelligence;
  • Wearable sensors for exoskeleton robots;
  • Pattern recognition and machine learning for exoskeleton robots;
  • Intelligent recognition algorithm based on EMG/EEG signals.

Dr. Wendong Wang
Prof. Dr. Xiaojie Wang
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. Biomimetics 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 2200 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

  • brain–computer interface
  • exoskeleton robots
  • human–robot interaction
  • intelligent control
  • sensing
  • EMG/EEG
  • human motion recognition
  • wearable robot
  • bio-inspired design

Published Papers (6 papers)

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Research

13 pages, 5415 KiB  
Article
A Wearable Upper Limb Exoskeleton System and Intelligent Control Strategy
by Qiang Wang, Chunjie Chen, Xinxing Mu, Haibin Wang, Zhuo Wang, Sheng Xu, Weilun Guo, Xinyu Wu and Weimin Li
Biomimetics 2024, 9(3), 129; https://doi.org/10.3390/biomimetics9030129 - 21 Feb 2024
Viewed by 1465
Abstract
Heavy lifting operations frequently lead to upper limb muscle fatigue and injury. In order to reduce muscle fatigue, auxiliary force for upper limbs can be provided. This paper presents the development and evaluation of a wearable upper limb exoskeleton (ULE) robot system. A [...] Read more.
Heavy lifting operations frequently lead to upper limb muscle fatigue and injury. In order to reduce muscle fatigue, auxiliary force for upper limbs can be provided. This paper presents the development and evaluation of a wearable upper limb exoskeleton (ULE) robot system. A flexible cable transmits auxiliary torque and is connected to the upper limb by bypassing the shoulder. Based on the K-nearest neighbors (KNN) algorithm and integrated fuzzy PID control strategy, the ULE identifies the handling posture and provides accurate active auxiliary force automatically. Overall, it has the quality of being light and easy to wear. In unassisted mode, the wearer’s upper limbs minimally affect the range of movement. The KNN algorithm uses multi-dimensional motion information collected by the sensor, and the test accuracy is 94.59%. Brachioradialis muscle (BM), triceps brachii (TB), and biceps brachii (BB) electromyogram (EMG) signals were evaluated by 5 kg, 10 kg, and 15 kg weight conditions for five subjects, respectively, during lifting, holding, and squatting. Compared with the ULE without assistance and with assistance, the average peak values of EMG signals of BM, TB, and BB were reduced by 19–30% during the whole handling process, which verified that the developed ULE could provide practical assistance under different load conditions. Full article
(This article belongs to the Special Issue Advanced Service Robots: Exoskeleton Robots)
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13 pages, 4817 KiB  
Article
Design and Optimization of an Adaptive Knee Joint Orthosis for Biomimetic Motion Rehabilitation Assistance
by Kun Liu, Shuo Ji, Yong Liu, Shizhong Zhang and Lei Dai
Biomimetics 2024, 9(2), 98; https://doi.org/10.3390/biomimetics9020098 - 7 Feb 2024
Cited by 1 | Viewed by 1036
Abstract
In this paper, an adaptive knee joint orthosis with a variable rotation center for biomimetic motion rehabilitation assistance suitable for patients with knee joint movement dysfunction is designed. Based on the kinematic information of knee joint motion obtained by a motion capture system, [...] Read more.
In this paper, an adaptive knee joint orthosis with a variable rotation center for biomimetic motion rehabilitation assistance suitable for patients with knee joint movement dysfunction is designed. Based on the kinematic information of knee joint motion obtained by a motion capture system, a Revolute-Prismatic-Revolute (RPR) model is established to simulate the biomimetic motion of the knee joint, then a corresponding implementation for repetitively driving the flexion–extension motion of the knee joint, mainly assembled by a double-cam meshing mechanism, is designed. The pitch curve of each cam is calculated based on the screw theory. During the design process, size optimization is used to reduce the weight of the equipment, resulting in a reduction from 1.96 kg to 1.16 kg, achieving the goal of lightweight equipment. Finally, a prototype of the designed orthosis with the desired biomimetic rotation function is prepared and verified. The result shows that the rotation center of the prototype can achieve biomimetic motion coincident with the rotation center of an active knee joint, which can successfully provide rehabilitation assistance for the knee joint flexion–extension motion. Full article
(This article belongs to the Special Issue Advanced Service Robots: Exoskeleton Robots)
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17 pages, 3369 KiB  
Article
Dynamic Modeling and Performance Analysis of a Hip Rehabilitation Robot
by Zengyu Jia, Ruiqin Li, Juan Liu and Yuan Wang
Biomimetics 2023, 8(8), 585; https://doi.org/10.3390/biomimetics8080585 - 3 Dec 2023
Viewed by 1149
Abstract
The dynamic performance of a 2-DOF hip joint rehabilitation robot configuration for patients with hip joint dyskinesia was analyzed. There were eight revolute pairs on one side of the hip joint rehabilitation robot configuration. The dynamics of the robot configuration were analyzed with [...] Read more.
The dynamic performance of a 2-DOF hip joint rehabilitation robot configuration for patients with hip joint dyskinesia was analyzed. There were eight revolute pairs on one side of the hip joint rehabilitation robot configuration. The dynamics of the robot configuration were analyzed with the Newton–Euler method, and a dynamic model was developed. On the basis of the solved dynamic model, the dynamic performance index of the hip joint rehabilitation robot configuration is given, and the performance atlas under different parameters is drawn. The performance of the hip joint rehabilitation robot is theoretically verified. This study provides a theoretical basis for the research and development of exoskeleton rehabilitation robots. Full article
(This article belongs to the Special Issue Advanced Service Robots: Exoskeleton Robots)
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19 pages, 898 KiB  
Article
Ground Contact Force and Moment Estimation for Human–Exoskeleton Systems Using Dynamic Decoupled Coordinate System and Minimum Energy Hypothesis
by Hongwu Li, Haotian Ju, Junchen Liu, Ziqi Wang, Qinghua Zhang, Xianglong Li, Yi Huang, Tianjiao Zheng, Jie Zhao and Yanhe Zhu
Biomimetics 2023, 8(8), 558; https://doi.org/10.3390/biomimetics8080558 - 21 Nov 2023
Viewed by 1148
Abstract
Estimating the contact forces and moments (CFMs) between exoskeletons’ feet and the ground is a prerequisite for calculating exoskeletons’ joint moments. However, comfortable, portable, and high-precision force sensors for CFM detection are difficult to design and manufacture. In addition, there are many unknown [...] Read more.
Estimating the contact forces and moments (CFMs) between exoskeletons’ feet and the ground is a prerequisite for calculating exoskeletons’ joint moments. However, comfortable, portable, and high-precision force sensors for CFM detection are difficult to design and manufacture. In addition, there are many unknown CFM components (six force components and six moment components in the double-support phase). These reasons make it challenging to estimate CFMs precisely. In this paper, we propose a novel method for estimating these CFMs based on a proposed dynamic decoupled coordinate system (DDCS) and the minimum energy hypothesis. By decomposing these CFMs into a DDCS, the number of unknowns can be significantly reduced from twelve to two. Meanwhile, the minimum energy hypothesis provides a relatively reliable target for optimizing the remaining two unknown variables. We verify the accuracy of this method using a public data set about human walking. The validation shows that the proposed method is capable of estimating CFMs. This study provides a practical way to estimate the CFMs under the soles, which contributes to reducing the research and development costs of exoskeletons by avoiding the need for expensive plantar sensors. The sensor-free approach also reduces the dependence on high-precision, portable, and comfortable CFM detection sensors, which are usually difficult to design. Full article
(This article belongs to the Special Issue Advanced Service Robots: Exoskeleton Robots)
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13 pages, 2409 KiB  
Article
Lightweight Soft Robotic Glove with Whole-Hand Finger Motion Tracking for Hand Rehabilitation in Virtual Reality
by Fengguan Li, Jiahong Chen, Zhitao Zhou, Jiefeng Xie, Zishu Gao, Yuxiang Xiao, Pei Dai, Chanchan Xu, Xiaojie Wang and Yitong Zhou
Biomimetics 2023, 8(5), 425; https://doi.org/10.3390/biomimetics8050425 - 14 Sep 2023
Cited by 2 | Viewed by 1820
Abstract
Soft robotic gloves have attracted significant interest in hand rehabilitation in the past decade. However, current solutions are still heavy and lack finger-state monitoring and versatile treatment options. To address this, we present a lightweight soft robotic glove actuated by twisted string actuators [...] Read more.
Soft robotic gloves have attracted significant interest in hand rehabilitation in the past decade. However, current solutions are still heavy and lack finger-state monitoring and versatile treatment options. To address this, we present a lightweight soft robotic glove actuated by twisted string actuators (TSA) that provides whole-hand finger motion tracking. We have developed a virtual reality environment for hand rehabilitation training, allowing users to interact with various virtual objects. Fifteen small inertial measurement units are placed on the glove to predict finger joint angles and track whole-hand finger motion. We performed TSA experiments to identify design and control rules, by understanding how their response varies with input load and voltages. Grasping experiments were conducted to determine the grasping force and range of motion. Finally, we showcase an application of the rehabilitation glove in a Unity-based VR interface, which can actuate the operator’s fingers to grasp different virtual objects. Full article
(This article belongs to the Special Issue Advanced Service Robots: Exoskeleton Robots)
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15 pages, 6640 KiB  
Article
Parametric Design and Prototyping of a Low-Power Planar Biped Robot
by Koray K. Şafak, Turgut Batuhan Baturalp and Selim Bozkurt
Biomimetics 2023, 8(4), 346; https://doi.org/10.3390/biomimetics8040346 - 5 Aug 2023
Cited by 2 | Viewed by 1293
Abstract
This study proposes a design approach and the development of a low-power planar biped robot named YU-Bibot. The kinematic structure of the robot consists of six independently driven axes, and it weighs approximately 20 kg. Based on biomimetics, the robot dimensions were selected [...] Read more.
This study proposes a design approach and the development of a low-power planar biped robot named YU-Bibot. The kinematic structure of the robot consists of six independently driven axes, and it weighs approximately 20 kg. Based on biomimetics, the robot dimensions were selected as the average anthropomorphic dimensions of the human lower extremities. The optimization of the mechanical design and actuator selection of the robot was based on the results of parametric simulations. The natural human walking gait was mimicked as a walking pattern in these simulations. As a result of the optimization, a low power-to-weight ratio of 30 W/kg was obtained. The drive system of the robot joints consists of servo-controlled brushless DC motors with reduction gears and additional bevel gears at the knee and ankle joints. The robot features spring-supported knee and ankle joints that counteract the robot’s weight and compensate for the backlash present in these joints. The robot is constrained to move only in the sagittal plane by using a lateral support structure. The robot’s feet are equipped with low-cost, force-sensitive resistor (FSR)-type sensors for monitoring ground contact and zero-moment point (ZMP) criterion. The experimental results indicate that the proposed robot mechanism can follow the posture commands accurately and demonstrate locomotion at moderate stability. The proposed parametric natural gait simulation-based design approach and the resulting biped robot design with a low power/weight ratio are the main contributions of this study. Full article
(This article belongs to the Special Issue Advanced Service Robots: Exoskeleton Robots)
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