Search Results (119)

The flexible upper-limb exoskeleton robot (exosuit) is composed of fabrics, soft actuators and compliant force-transmitting structures, which provides assistance or rehabilitation training for the shoulders, elbows, wrists and hands. By realizing human–robot collaboration, this kind of system has the advantages of comfort, light weight and portability, thus promoting motor function recovery and neural plasticity. This review establishes a classification and comparison framework for flexible upper-limb exoskeletons based on the actuation modalities and systematically summarizes the research progress under different actuation modalities. The relevant literature published from 2015 to 2025 was retrieved from the EI, IEEE Xplore, PubMed and Web of Science databases. After screening according to the preset inclusion and exclusion criteria, a total of 64 original research papers meeting the criteria were finally included for analysis. According to the actuation modalities, the flexible upper-limb exoskeleton robot is classified, and all kinds of systems are summarized and compared. Motor–cable/tendon actuation and pneumatic/hydraulic actuation have advanced substantially and are approaching technical maturity for flexible upper-limb exoskeletons. Meanwhile, designs based on passive/hybrid mechanisms (e.g., elastic energy storage elements and clutches) and new intelligent material actuations are showing a diversified development trend. In the future, the development is expected to further focus on lightweight and compliance, and by integrating multimodal sensing and feedback control, motion intention recognition and human–robot interaction theories, actuation systems will be developed towards modularization, intelligence and high-power density, in order to achieve more comfortable, lighter and more effective flexible upper-limb exoskeleton systems. Full article

The translation of knowledge and methodologies across disciplines represents a valuable source of innovation, particularly in user-centered design approaches that have become essential in medical device development. This study explores the use of the PICO (Population, Intervention, Comparison, and Outcome) framework, a cornerstone of evidence-based medicine for formulating clinical questions, as a conceptual structure to support the alignment between clinical needs and engineering design consideration in robotic rehabilitation devices, with a focus on hand exoskeletons. Through a conceptual reinterpretation and application-oriented exploration supported by illustrative case studies involving both rigid and soft robotic glove prototypes, this study shows how each PICO component can inform engineering parameters, from defining user impairments and intervention strategies to benchmarking and outcome measurements. The analysis highlights the potential of PICO in fostering a user-centered design perspective and bridging clinical and engineering domains while also identifying its structural limitations when applied to device design contexts. This study concludes that while the PICO framework offers a valuable foundational structure, it requires customization to fully address the multifactorial requirements of effective, patient-specific robotic rehabilitation device design. Full article

In industrial and logistics settings, the use of soft and rigid spinal exoskeletons has been increasing. However, under a unified assistance level and comparable work scenarios, systematic comparisons of their effects on users’ thermophysiological responses and subjective thermal perceptions remain limited. Twenty male participants performed manual handling tasks under three load conditions (5, 10, and 15 kg) in three experimental conditions: without the exoskeleton (WEXO), a rigid exoskeleton (REXO), and a soft exoskeleton (SEXO). Metabolic rate, mean skin temperature (MST), thermal comfort vote (TCV), and thermal sensation vote (TSV) were measured. The key findings are as follows: Compared with WEXO, both exoskeletons significantly reduced metabolic rate. Across all loads, SEXO yielded a lower metabolic rate than REXO and showed a more gradual linear increase as the load increased, whereas REXO exhibited a larger rise at 15 kg. Overall, MST was higher in REXO than in SEXO. Wearing an exoskeleton was often associated with increased skin temperature at 5–10 kg, yet MST decreased for both exoskeletons at 15 kg. Subjective ratings further indicated better TCV and TSV with SEXO than with REXO, with the difference more pronounced under higher loads. Taken together, under the conditions of this study, the soft exoskeleton appears to better balance assistive benefits and thermal comfort. Nevertheless, its heat transfer and heat dissipation performance should be further optimized in future designs. Full article

Osteoarthritis (OA) is a progressive musculoskeletal disorder that affects not only older adults but also younger populations, often leading to chronic pain, joint stiffness, functional impairment, and a decline in quality of life. Non-invasive physical rehabilitation plays a critical role in slowing disease progression, alleviating symptoms, and maintaining joint mobility. However, rehabilitation tools such as compression gloves and manual exercise aids are typically passive and provide minimal real-time feedback to patients or clinicians. Others, such as exoskeletons and soft-actuated devices, can be costly or complex to use. This study presents the design and development of an electrically actuated glove integrated with force and flex sensors, intended to assist individuals diagnosed with Stage 2 OA in performing guided finger exercises. The system integrates a digital front-end application that offers real-time feedback and data visualization, enabling more personalized and trackable therapy sessions for both patients and healthcare providers. Preliminary results from an initial human trial with healthy participants demonstrate that the glove enables naturalistic movement without imposing excessive restriction or augmentation of motion. These findings support the glove’s potential in preserving hand coordination and dexterity, key objectives in early-stage OA intervention, and suggest its suitability for integration into home-based or clinical rehabilitation protocols. Full article

The rapid spread of the invasive blue crab (Callinectes sapidus) in Mediterranean coastal ecosystems poses ecological and socio-economic challenges, highlighting the need to explore natural control mechanisms. We conducted controlled aquarium experiments to assess the functional size preference and feeding rates of two native Mediterranean predators: the common octopus (Octopus vulgaris) and the loggerhead sea turtle (Caretta caretta). Two sets of trials were performed: (1) size preference experiments, in which individual predators were simultaneously offered crabs of varying sizes; and (2) ad libitum feeding experiments to estimate daily consumption rates. Octopuses consumed only the soft tissues biomass (STB, ~54% of total crab biomass), reaching maximum intake rates of 454 ± 71 gWW·d⁻¹ in adult individuals. Sea turtles ingested whole crabs, including the exoskeleton, with total consumption rates up to 815 ± 592 gWW·d⁻¹ of total biomass (TB) in adults. Subadult octopuses exhibited shorter handling times for small crabs, although neither predator showed a statistically significant size preference. Our findings indicate that both predators can consume substantial amounts of blue crab biomass, but O. vulgaris—due to its higher feeding efficiency and ecological abundance—might play a more prominent role as a natural biocontrol agent. These results provide valuable insights for integrated management strategies aimed at mitigating the ecological impact of C. sapidus in the Mediterranean. Full article

Wearable robotic devices for rehabilitation and assistive applications face a critical challenge: discomfort induced by prolonged pressure at the human–robot interface. Conventional attachment systems with static straps or rigid cuffs frequently exceed pain tolerance thresholds, limiting clinical acceptance and patient adherence. This study presents a novel dynamic pressure modulation system using thermally activated Twisted and Coiled Artificial Muscles (TCAMs). The system integrates a lightweight lattice structure (0.1 kg) with biocompatible silicone coating incorporating two TCAMs fabricated from silver-coated nylon 6,6 fibers (Shieldex 235/36 × 4 HCB). Electrothermal activation via 2 A constant current induces axial contraction, dynamically regulating circumferential pressure from 0.05 kgf/cm² to 0.50 kgf/cm² within physiological comfort ranges. Experimental validation on a wrist-worn prototype demonstrates precise pressure control, rapid response (5–10 s), and thermal safety through 8 mm Ecoflex insulation. The system enables on-demand interface stiffening during robotic actuation and controlled pressure release during rest periods, significantly enhancing comfort and device tolerability. This approach represents a promising solution for clinically viable wearable robotic devices supporting upper limb rehabilitation and activities of daily living. Full article

Lower limb exoskeletons significantly enhance human functionality. However, simultaneously improving the load capacity of these devices while reducing metabolic costs presents a major challenge in the industry. This paper presents a lower limb exoskeleton that integrates both rigid and flexible structures to facilitate active assistance and passive load transfer at the hip joint. The load transfer experiments were conducted with weights of 10 kg and 15 kg. During static standing, the load transfer rates were recorded at 90.48% and 69.70%, respectively. In dynamic walking, these rates decreased to 62.07% and 43.69%. Furthermore, in metabolic experiments involving a load of 15 kg, metabolic costs in the exoskeleton assistance modes OFF (Assist OFF) and exoskeleton assistance ON (Assist ON) were reduced by 8.3% and 21.61%, respectively, compared to the exoskeleton-free condition (NE). Furthermore, the Assist ON mode further decreased metabolic costs by 13.22% compared to the Assist OFF mode. These findings demonstrate that the rigid-soft coupled lower limb exoskeleton exhibits exceptional load transfer capabilities and effective assistance, highlighting its potential to enhance human performance in weight-bearing activities. Full article

With the global ageing population and the increasing prevalence of mobility impairments, the demand for effective and comfortable rehabilitation and assistive solutions has grown rapidly. Soft exoskeletons have emerged as a key direction in the development of wearable rehabilitation devices. This review examines how these systems are designed and controlled, as well as how they differ from the rigid exoskeletons that preceded them. Made from flexible fabrics and lightweight components, soft exoskeletons use pneumatic or cable mechanisms to support movement while keeping close contact with the body. Their compliant structure helps to reduce joint stress and makes them more comfortable for long periods of use. The discussion in this paper covers recent work on lower-limb designs, focusing on actuation, power transmission, and human–robot coordination. It also considers the main technical barriers that remain, such as power supply limits, the wear and fatigue of soft materials, and the challenge of achieving accurate tracking performance, low latency, and resilience to external disturbances. Studies reviewed here show that these systems help users regain functionality and improve rehabilitation, while also easing caregivers’ workload. The paper ends by outlining several priorities for future development: lighter mechanical layouts, better energy systems, and adaptive control methods that make soft exoskeletons more practical for everyday use as well as clinical therapy. Full article

This study presents a soft exoskeleton system designed to enhance the safety of electrical maintenance personnel during tower climbing by augmenting the hand grip and providing fall prevention assistance. Inspired by biological principles, a compact, stroke-amplified, and fast-response actuator based on a spring energy storage–release mechanism was developed and evaluated through tensile and speed tests, demonstrating sufficient locking force and a fast response time of 37.5 ms. A dual-sensing module integrating pressure and flexible bending sensors was designed to detect grasping states in real time. System effectiveness was further validated through functional electrical stimulation (FES) and simulated climbing experiments. FES tests confirmed the system’s ability to maintain grasp posture under involuntary hand extension, while climbing experiments verified consistent and reliable transitions between locking and unlocking during movement. Although preliminary, these results suggest that integrating soft exoskeletons with rapid-response actuators offers a promising solution for improving grip stability and operational safety in high-risk vertical environments. Full article

Soft wearable actuators must align with anatomical joints, conform to limb geometry, and operate at low pneumatic pressures. Yet most twisting mechanisms rely on bulky attachment interfaces and relatively high actuation pressures, limiting practicality in assistive applications. This study introduces the first Twisting Soft Sleeve Actuator (TSSA), a self-contained, wearable actuator that produces controlled bidirectional torsion. The design integrates helically folded bellows with internal stabilization layers to suppress radial expansion and enhance torque transmission. The TSSA is fabricated from thermoplastic polyurethane using a Bowden-type fused filament fabrication (FFF) process optimized for airtightness and flexibility. Performance was characterized using a modular test platform that measured angular displacement and output force under positive pressure (up to 75 kPa) and vacuum (down to −85 kPa). A parametric study evaluated the effects of fold width, fold angle, wall thickness, and twist angle. Results demonstrate bidirectional, self-restoring torsion with clockwise rotation of approximately 30 degrees and a peak output force of about 40 N at 75 kPa, while reverse torsional motion occurred under vacuum actuation. The TSSA enables anatomically compatible, low-pressure torsion, supporting scalable, multi-degree-of-freedom sleeve systems for wearable robotics and rehabilitation. Full article

Considering that soft airbag sensors made from soft materials are limited to detecting only normal forces, a novel PEBA–silicone composite magneto-sensitive airbag sensor is proposed for simultaneously detecting normal contact force and horizontal motion during human–robot interaction. In terms of structural design, the PEBA–silicone composite airbag is manufactured using fused deposition modeling, 3D printing, and silicone casting, achieving a balance between high airtightness and adjustable stiffness. Beneath the airbag, a magneto-sensitive substrate with several NdFeB magnets is embedded, while a fixed Hall sensor detects spatially varying magnetic fields to determine horizontal displacements without contact. The results of contact-force and motion experiments show that the proposed sensor achieves a force resolution of 20 g, a force range of 0 to 1100 g, a fitting sensitivity of 7.54 N/Pa, an average static stiffness of 4.82 N/mm, and a horizontal motion detection range of 0.125 to 1 cm/s. In addition, the prototype of the sensor is lightweight (with the complete assembly weighing 81.25 g and the sensing part weighing 56.13 g) and low-cost, giving it potential application value in exoskeletons and industrial grippers. Full article

The art of folding paper, named “origami”, has transformed from serving religious and cultural purposes to various educational and entertainment purposes in the modern world. Significantly, the fundamental folds and creases in origami, which enable the creation of 3D structures from a simple flat sheet with unique crease patterns, serve as a great inspiration in engineering applications such as deployable mechanisms for space exploration, self-folding structures for exoskeletons and surgical procedures, micro-grippers, energy absorption, and programmable robotic morphologies. Therefore, this paper will provide a systematic review of the state-of-the-art origami-inspired structures that have been adopted and exploited in robotics design and operation, called origami-inspired robots (OIRs). The advantages of the flexibility and adaptability of these folding mechanisms enable robots to achieve agile mobility and shape-shifting capabilities that are suited to diverse tasks. Furthermore, the inherent compliance structure, meaning that stiffness can be tuned from rigid to soft with different folding states, allows these robots to perform versatile functions, ranging from soft interactions to robust manipulation and a high-DOF system. In addition, the potential to simplify the fabrication and assembly processes, together with its integration into a wide range of actuation systems, further broadens its capabilities. However, these mechanisms increase the complexity in theoretical analysis and modelling, as well as posing a challenge in control algorithms when the robot’s DOF and reconfigurations are significantly increased. By leveraging the principles of folding and integrating actuation and design strategies, these robots can adapt their shapes, stiffness, and functionality to meet the demands of diverse tasks and environments, offering significant advantages over traditional rigid robots. Full article

Soft–rigid interfaces in exoskeletons are key to balancing flexibility and structural support, providing both comfort and function. In our experience, combining Bioflex material with a rigid filament improves mechanical properties while allowing the exoskeleton to adapt to complex hand movements. Flexible components provide adaptability, reducing pressure points and discomfort during prolonged use. At the same time, rigid components provide the stability and force transfer necessary to support weakened grip strength. A key challenge in this integration is achieving a smooth transition between materials to prevent stress concentrations that can lead to material failure. Techniques for providing adhesion and mechanical locking are essential to ensure the durability and longevity of soft and rigid interfaces. One issue we have observed is that rigid filaments can restrict movement if not strategically placed, potentially leading to unnatural hand movement. On the other hand, excessive softness can reduce the force output needed for effective rehabilitation or assistance. Optimizing the interface design requires iterative testing to find the perfect balance between flexibility and mechanical support. In some prototypes, material fatigue in soft sections led to early failure, requiring reinforced hybrid structures. Addressing these issues through better material bonding and geometric optimization can significantly improve the performance and comfort of hand exoskeletons. The aim of this study was to investigate the transition between rigid and soft materials for exoskeletons. Full article

The development of wearable robotic exoskeletons has seen rapid progress in recent years, driven by the growing need for technologies that support motor rehabilitation, assist individuals with physical impairments, and enhance human capabilities in both clinical and everyday contexts. Within this field, elbow exoskeletons have emerged as a key focus due to the joint’s essential role in upper limb functionality and its frequent impairment following neurological injuries such as stroke. With increasing research activity, there is a strong interest in evaluating these systems not only from a technical perspective but also in terms of user comfort, adaptability, and clinical relevance. This review investigates recent advancements in elbow exoskeleton technology, evaluating their effectiveness and identifying key design challenges and limitations. Devices are categorized based on three main criteria: mechanical structure (rigid, soft, or hybrid), actuation method, and sensing technologies. Additionally, the review classifies systems by their supported range of motion, flexion–extension, supination–pronation, or both. Through a systematic analysis of these features, the paper highlights current design trends, common trade-offs, and research gaps, aiming to guide the development of more practical, effective, and accessible elbow exoskeletons. Full article

Stroke is one of the leading causes of long-term disability worldwide, often resulting in motor impairments that limit the ability to perform daily activities independently. Conventional rehabilitation exoskeletons, while effective, are typically rigid, bulky, and expensive, limiting their usability outside of clinical settings. In response to these challenges, this work presents the development and validation of a novel soft exosuit designed for elbow flexion rehabilitation, incorporating a multi-wire Shape Memory Alloy (SMA) actuator capable of both position and force control. The proposed system features a lightweight and ergonomic textile-based design, optimized for user comfort, ease of use, and low manufacturing cost. A sequential activation strategy was implemented to improve the dynamic response of the actuator, particularly during the cooling phase, which is typically a major limitation in SMA-based systems. The performance of the multi-bundle actuator was compared with a single-bundle configuration, demonstrating superior trajectory tracking and reduced thermal accumulation. Surface electromyography tests confirmed a decrease in muscular effort during assisted flexion, validating the device’s assistive capabilities. With a total weight of 0.6 kg and a fabrication cost under EUR 500, the proposed exosuit offers a promising solution for accessible and effective home-based rehabilitation. Full article