exoskeleton design, control & applications
TRANSCRIPT
© DEMACH Event- und Veranstaltungs GmbH. Berlin, Germany | www.demach-events.de
EXOSKELETON DESIGN,
CONTROL & APPLICATIONS
26.10.2021
11-12 October 2022
Berlin, Germany
www.exo-berlin.de
© DEMACH Event- und Veranstaltungs GmbH. Berlin, Germany
Exoskeletons and exosuits
Assistive robotic devices
Intelligent artificial limbs
Human-Robot interaction
Bio-mimetic, bio-inspired & bio-hybrid robotic
systems
Wearable sensors, functional components
& materials
Performance monitoring, motion analysis
System integration & applications
FOCAL TOPICS
In-Person Affiliated Event
TOWARDS HUMAN-CENTRED TECHNOLOGY AND CARE
3RD INTERNATIONAL FORUM ON
EXOSKELETON & HUMAN AUGMENTATION SYSTEMS
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In-Person Affiliated Event
International Forum on
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& Brain Technologies (NBT)
17-18.05.2022
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Neural interfaces & flexible microsystems.
Neural interface technology for functional neural
stimulation.
Neuroelectronic recording interfaces.
Neuromodulation & bioelectronic medicines.
Neuro-based electronics.
Design, fabrication, & validation of next-generation
neural interfaces.
EEG hardware, sensors & accessories.
Wired & wireless EEG solutions.
Integration of EEG with fMRI, fNIRS, TMS,
tDCS/tACS, MEG.
Signal analysis & processing methods.
Novel non-invasive neuroimaging technologies.
EEG-Based brain–computer interfaces.
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COUNTRIES OF ATTENDEES2021 TECH DAY Online Meeting on Exoskeleton Design, Control & Applications
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Last updated: 26 October 2021
INDEX
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DEPARTMENT OF NEUROSCIENCE, IMAGING AND CLINICAL SCIENCES OF THE
UNIVERSITY "G. D'ANNUNZIO" CHIETI-PESCARA
EXORISE
INSTITUTO DE BIOMECáNICA DE VALENCIA
EXOMYS - AUGMENTED HUMANTIY GMBH
HEROWEAR
IDSIA USI/SUPSI
JOHANNES KEPLER UNIVERSITY, LINZ
JOHANNES KEPLER UNIVERSITY LINZ JKU
MAWASHI SCIENCE & TECHNOLOGY
NUADA
POLYTECHNIQUE MONTRÉAL
TECHNAID, S.L.
TECHNISCHE UNIVERSITÄT ILMENAU, FAKULTÄT FÜR MASCHINENBAU,
FACHGEBIET BIOMECHATRONIK
UNIVERSITY OF WOLLONGONG, NSW, AUSTRALIA
IWALKFREE, INC
Last updated: 20 October 2021
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Exoskeleton Design, Control & Applications 2021
Tues
day
, Oct
ob
er 2
6, 2
021
TIME TOPIC PRESENTER COUNTRY
10:00-10:25 Predictive Health Optimization using an Exoskeleton for upper body support
Exomys - Augmented Humantiy GmbH
Austria
10:25-10:45 Design and implementation of a back-support exoskeleton: the XSPINE project
IDSIA USI/SUPSI Switzerland
10:45-11:10 A novel design and control of digital hydraulically driven knee exoskeleton
Johannes Kepler University, Linz
Austria
11:10-11:30 Compact upper limb exoskeleton with a hydraulically actuated elbow joint
Johannes Kepler University Linz JKU
Austria
11:30-11:50 Embroidered on-body Smart Sensors using Conductive Fabrics for Wearable Applications
University of Wollongong, NSW, Australia
Australia
11:50-12:00 Coffee Break
12:00-12:20 Evaluation of the effect of a lumbar exoskeleton in manual load handling tasks with high handling frequency
Instituto de Biomecánica de Valencia
España
12:20-12:40 Upper Limb Exoskeleton Serving the Prevention of Work induced Diseases
Technische Universität Ilmenau, Fakultät für Maschinenbau, Fachgebiet Biomechatronik
Deutschland
12:40-12:55 Endowing robots with empathic skills to improve robot-assisted therapy
Department of Neuroscience, Imaging and Clinical Sciences of the University "G. D'Annunzio" Chieti-Pescara
Italia
12:55-13:20 EXORISE PASSIVE EXOSKELETONS EXORISE Russian Federation
13:20-13:30 Coffee Break
13:30-13:55 Understanding the Value of User Feedback in Exoskeleton Design
HeroWear United States
13:55-14:10 Low-cost 1 degree of freedom ankle exoskeleton for children with Cerebral Palsy
Polytechnique Montréal Canada
14:10-14:35 Nuada: An Innovative Hand Function NUADA Portugal
14:35-14:50 The Hidden Benefits of the Passive Peg Leg Crutch iWALKFree, Inc United States
14:50-15:15 Exoskeleton for Civil Applications Mawashi Science & Technology
Canada
15:15-15:40 Assessing Safe Locomotion with Exoskeletons in Realistic Scenarios
Technaid, S.L. Spain
End
/Be aware that the start and end times for each session are tentative. /This schedule is updated frequently and the meeting agenda is subject to change without prior notice. Check back again before the event. (Lasted updated: 21.10.2021)
AbstractRecently, there has been a growing interestin the development of social robots to assistchildren and the elderly with their socialneeds. However, to be successful in theirgoal, social robots must be able to empathizewith their interlocutors [1]. A great deal ofresearch in the Human-Robot interaction(HRI) area reveals that people sympathizewith, and even trust, robots if they recognizetheir emotional states and reactappropriately to them [2]. This researchproposes a highly accurate deep-neural-network-based emotion recognition model,efficiently integrated into a robotic platform,and designed to enhance robotic awarenessof human emotional state through facialexpressions recognition [3]. Furtherinvestigation on this course could potentiallyimprove HRI and enable the social robots tobecome successful tutors.
References:1) Filippini, C.; Spadolini, E.; Cardone, D.; Bianchi, D.; Preziuso, M.; Sciarretta, C.; del Cimmuto, V.; Lisciani, D.; Merla, A.Facilitating the Child–Robot Interaction by Endowing the Robot with the Capability of Understanding the Child Engagement: TheCase of Mio Amico Robot. International Journal of Social Robotics 2020, 1–13. 2.2) Malinowska, J.K. What Does It Mean to Empathise with a Robot? Minds and Machines 2021, 1–16.3) Filippini, C., Perpetuini, D., Cardone, D., & Merla, A. (2021). Improving Human–Robot Interaction by Enhancing NAO RobotAwareness of Human Facial Expression. Sensors, 21(19), 6438.
Normalized confusion matrix of the developeddeep-neural-network-based emotion recognitionmodel.
Results
Model integration in NAO robot SDK
Pictures captured during the NAO interaction with a representative subject. The facial expressions detected by NAO robot through the developed model for (a) neutral, (b) sad, and (c) happy facial expressions are also displayed in the images
Funding:This research was funded by the grants: PON FESR MIUR R&I 2014-2020-ADAS+, grant number ARS01_00459 and PONMIUR SI-ROBOTICS grant number ARS01_01120
Chiara Filippini , David Perpetuini , Daniela Cardone , Arcangelo MerlaDepartment of Neurosciences, Imaging and Clinical Sciences, University G. ’Annunzio of Chieti-Pescara, Italy
Evaluation of the effect of a lumbar exoskeleton in manual load handling
tasks with high handling frequency
Sofía Iranzo, Alicia Piedrabuena, Juan-Manuel Belda-Lois, José L. Martínez-de-Juan,
Gema Prats-Boluda, Mercedes Sanchis, Carlos García
Musculoskeletal disorders in jobs related to warehousing and transport tasks account for 76%
of injuries with sick leave associated with the logistics sector. 25% of these injuries are related
to overexertion associated with manual load handling tasks, mainly lifting.
To reduce this high incidence, more and more companies are opting for the introduction of
exoskeletons to carry out the aforementioned tasks; However, it is important to know the
effects that different types of exoskeletons have on the efforts made by workers during the
performance of certain tasks. For this reason, this project has carried out a complete study to
assess the effect of the Laevo lumbar exoskeleton in the performance of a depalletizing task
under controlled laboratory conditions.
Assuming that lumbar exoskeletons have a measurable effect on the risk factors related to the
development of tasks with manual handling of loads, a group of users performing a series of
tasks designed with moderate ergonomic risk have been be monitored. The analysis consisted
on quantifying the changes in muscular efforts at the most implied muscles (erector spinae,
rectus femoris, semitendinosus, and gluteus), and the postural changes in tasks with manual
load handling. And comparing by measuring in both conditions, with and without exoskeleton.
The results obtained in terms of muscle activity show a reduction in the minimum activity level
in the erector spinae of 5.6% and an increase in the mean activity level in the rectus femoris of
2%. Regarding the postural analysis, reductions are found in various joint ranges. In the lumbar
joint, a reduction in both flexion-extension (3%) and rotation (39%) is observed. In the right hip,
an 8% reduction in rotation is obtained, and a 5% reduction in flexion-extension of the right
knee.
The use of the exoskeleton has proven to be beneficial since it reduces both the muscular activity
in the erector spinae. But There are some minor negative effects of exoskeleton use, such as
slight restriction of movement and slight increase in rectus femoris muscle activity.
This reveals that, since exoskeletons claim to be an aid for the development of certain tasks, it
would be of great interest to carry out longitudinal studies that allow assessing the implications
that the use of them may have in the long term. In addition, it would be necessary to follow a
line of work associated with their design in such a way that some negative effects can be
minimized, such as the reduction in the mobility of users.
John Bernhardt, MScMarxergasse 24/2A-1030 Vienna
Tel.: +43 (0) 650 30 64 555E-Mail: [email protected]
Our goal is to keep productivityhigh and avoid occupational leaves.
• Comfortable: Light-weight, quiet operation, ready for immediate use
• Low-Maintenance: Few wear parts, thus low follow-up costs
• Passive: No batteries, no actuation, thus substantial cost savings
• One size: Uni-sex and adjustable to individual height and width
ATLAS Passive exoskeleton to supportcarrying and lifting tasks.
• carry effortlessly over long distances• relief of arms and spine• distributes the weight ergonomically• prevention of unilateral load
Exoskeletons - Effective supportfor manual work
www.exomys.com
Let‘s talk about the future of manual work! Contact us now!
Abstract - Not Final Presentation
CONFIDENTIAL AND PROPRIETARY, 2021 3
● Importance for Exoskeleton developers to pay special attention to the true benefactors of their technology
● How HeroWear turns user feedback into usable design requirements
● How HeroWear implements these requirements into updated features that users actually want.
● Case studies about Apex exosuit design details that resulted from this process and culminated in the release of the Apex in 2020
● How HeroWear utilizes rapid innovation to pivot to user needs that have been presented and discovered post-launch.
Loris Roveda1, Michele Rossi2, Mattia Pesenti2, Mario Covarrubias Rodriguez2, Alessandra Pedrocchi2, Francesco Braghin2, Marta Gandolla2, Maurizio Mor3,
Federico Fraboni4, Luca Pietrantoni4
1Istituto Dalle Molle di studi sull’Intelligenza Artificiale (IDSIA),Scuola Universitaria Professionale della Svizzera Italiana (SUPSI),
Università della Svizzera Italiana (USI)[email protected]
2Politecnico di Milano, Mechanical Engineering Department3Polibrixia s.r.l.
4Alma Mater Studiorum Università di Bologna
Back-Support Exoskeleton for Working Applications
Manual labor is still strongly present in many industrial contexts(such as the aerospace industry). Such operations commonlyinvolve onerous tasks requiring to work in non-ergonomicconditions and to manipulate heavy parts. As a result, work-related musculoskeletal disorders are still a major problem thatneeds to be tackled in the workplace. In particular, the back isone of the most affected regions. To solve such an issue, manyefforts have been made in the design and control of exoskeletondevices, relieving the human from the task load. Besides upperlimbs and lower limbs exoskeletons, back-support exoskeletonshave also been investigated, proposing both passive and activesolutions. XSPINE and REMOTe_XSPINE projects aim to improvethe design of the back-support exoskeleton in [1], testing it @the EUROBENCH facilities to validate the designed deviceespecially considering human factors metrics.
[1] Roveda, Loris, et al. "Design methodology of an active back-support exoskeleton with adaptable backbone-based kinematics." International Journal of IndustrialErgonomics 79 (2020): 102991.
The novelties of the new-designed device are:• backbone-based kinematics to maximize the
transparency of the exoskeleton;• passive mechanism to compensate for the
external load, while assisting the operator intasks execution;
• Extension to actuated device to activelyassist the operator.
The proposed re-designed device will betested @ the EUROBENCH falicities in orderto validate it. Human factors metrics will bespecifically considered in order to evaluatethe usability of the prototype and therelated mental load in tasks execution.
Aim of the Work
Novelty & Next Steps
The work has been developed within the projects XSPINE and REMOTe_xspine. This work has received funding from the European Union’s Horizon 2020research and innovation programme, via an Open Call
issued and executed under Project EUROBENCH (grant agreement n. 779963).
A novel design and control of digital hydraulically driven
knee exoskeleton
Dr. Rituraj, Prof. Rudolf Scheidl
Johannes Kepler University, Linz, Austria
Peter Ladner, Martin Lauber
Linz Center of Mechatronics GmbH, Linz, Austria
Hydraulically actuated exoskeletons present an attractive alternative (to electrically actuated
exoskeletons) due to their high force density, easy energy recuperation, motion locking and damping
capabilities.
This collaborative project between Linz Center of Mechatronics and Institute of Machine Design and
Hydraulic Drives at Johannes Kepler University aims to develop the next generation of hydraulically
driven exoskeletons.
In this project, we have developed a novel design of digital hydraulically driven knee exoskeleton that
uses a unique mechanism to satisfy the peak torque requirements during a typical gait cycle with a
smaller hydraulic force.
The optimal kinematic structure along with a digital hydraulic actuation system promises superior
energy efficiency, compactness, and controllability.
Project webpage: English, German
Institute of Machine Design and Hydraulic Drives
Overview:The UPLIFT™ exoskeleton is designed to assist the user during high stress/high fatigue activities that involve lift, move
and carry tasks. This innovative exoskeleton intends to increase worker’s performance, productivity and endurance when
performing logistics tasks. Because of its smart assistance capability, this system also contributes to increase workers’
safety and health (reduce risks of developing load carriage related injuries) when lifting and carrying objects by reducing
the stresses applied directly on the user’s musculoskeletal system.
Main Features:> Assists Four Main Joints with Fully Unpowered Mechanical Systems: Knees, Lower back, Shoulders and Elbows;
> Modular and Tunable Assistance to Follow User’s Needs;
> Biomorphic Arm Structure with Very Low Restriction to Movement;
> Ergonomic Shoulder Support System with Mechanical Clutch;
> Back Retention System to Help the User in Various Body Postures and Maneuvers;
> Constant User Assistance during Dynamic and Repetitive Tasks;
> Composed of an adaptive arm structure, a back structure for lower back and shoulder assistance, two leg sections with
functional knee and ankle joints designed to follow body movements, and two load-transferring soles integrated inside the
footwear.
Key Differentiating Factors:> Advanced Ergonomics: Bio-Inspired Exoskeleton Frame with an unmatched level of Freedom of Movement that allows
for all the movements and manoeuvers required during logistics tasks.
> Smart Shoulder Assistance: Versatile Shoulder Support System with quick activation/deactivation clutch mechanism to
dynamically adjust shoulder support following user’s requirement.
> Reliable Unpowered and Ultralight System: Constant Assistance during the entire workday that does not rely on
multiple batteries (batteries lifetimes are too short for an 8-hour workday); Lighter design compared to powered systems
(no need for heavy batteries, actuation, sensing and control systems).
Benefits for the Worker:> Increased Performance/Throughput
> Increased Endurance
> Decreased Musculoskeletal Injuries
> Decreased Metabolic Expenditure
> Decreased Fatigue
> Decreased Discomfort
Benefits for the Employer (Direct and Indirect): > Increased Overall Productivity
> Decreased Occurrence of Work-Related Injuries
> Decreased Medical/Rehabilitation Costs
The future isin our hands!
Nuada is a company that is developing a new generation of smart and intelligent exoskeletons.
The first product is a glove that allows users to hold up to 40 Kg’s with their hands completely relaxed.
The ProblemMillions of people suffer from lack of strength or
pain in the hands. These problems have a high
negative impact in their daily lives.
In the industry sector, workers suffer injuries
due to demanding hand activities which causes
a decrease in production.
These injuries represent an increase in
company's costs and in Human Resources
management.
In the healthcare industry, the number of
elderly people and the number of people that
suffer from musculoskeletal disorders is rapidly
increasing.
The SolutionA Seamless glove for active hand support that can be
used in everyday life with comfort and discretion.
Taking advantage of our patented new approach to
exoskeletons, the system uses an array of sensors to
accurately create a digital representation of the user’s
hand and the desired motion. If the user wants to hold
an object, the system allows the user to gently close the
hands around the object and provides supporting force
to maintain the desired hand position without any
muscle activity from the user. The system uses a bio-
inspired mechanical design to sustain loads up to 40
Kg’s with minimal energy requirements. The sensor
data can also be used for many applications, such as
hand function assessment and recovery evaluation.
The Market
Our system can be applied to reduce injury in industrial workers and to
improve hand function in severely limited healthcare patients.
HEALTHCARE
178 Mpotential users (EU and US)
$267Bcalculated market size
4.2Mpotential users (EU and US)
$4.2Bcalculated market size
AUTOMOTIVE INDUSTRIALMARKET
[email protected] www.nuada.pt
Low-cost 1 degree of freedom ankle exoskeleton for children with Cerebral Palsy
Amandine Gesta1, Abolfazl Mohebbi1, Sofiane Achiche1
1 Department of Mechanical engineering, Polytechnique Montreal, Montreal, QC, Canada
ABSTRACT Cerebral palsy (CP) is a group of common pediatric neuromuscular disorders (3.1 to 3.6/1000 of children) [1]. This generally results in a pathological gait pattern. Therapies based on the use of exoskeletons on treadmills have shown encouraging results by providing punctual mechanical assistance during the patient's walk [2]. Due to a large market gap, our goal is to develop a low-cost portable and lightweight powered ankle exoskeleton suitable for children called PERL for Pediatric Exoskeleton for Rehabilitation of Lower limbs. A literature review allowed us to identify: the anatomical specificities and the movement characteristic of the children’s ankle, the components and 3D printable materials needed for the design of an exoskeleton as well as the suitable control algorithms adapted to the task at hand. A 3D model was designed using the selected components based on the constructed specifications. The estimated weight would be less than 2 kg for a child measuring between 95 cm and 150 cm with a torque exerted at the ankle of about 10 Nm to 20 Nm. These specifications remain below the upper limits reported in the literature [3]. The current 3D design is able to adapt to a variety of heights and weights of the user due to the design and the chosen components while supporting the ankle movement. Keywords: exoskeleton, rehabilitation robotics, cerebral palsy REFERENCES [1] Goo, A., Laubscher, C., Farris, R., & Sawicki, J. (2020). Design and Evaluation of a Pediatric Lower-Limb Exoskeleton Joint Actuator. Actuators, 9, 138. [2] Orekhov, G., Fang, Y., Luque, J., & Lerner, Z. F. (2020). Ankle Exoskeleton Assistance Can Improve Over-Ground Walking Economy in Individuals With Cerebral Palsy. IEEE transactions on neural systems and rehabilitation engineering : A publication of the IEEE Engineering in Medicine and Biology Society, 28(2), 461-467. [3] Browning, R. C., Modica, J. R., Kram, R., & Goswami, A. (2007). The Effects of Adding Mass to the Legs on the Energetics and Biomechanics of Walking. Medicine & Science in Sports & Exercise, 39(3), 515-525. https://doi.org/10.1249/mss.0b013e31802b3562
CONTACT INFORMATION
Amandine GESTA M.Sc.A biomedical engineering
Polytechnique Montréal [email protected] https://www.linkedin.com/in/amandinegesta/
Abolfazl MOHEBBI Supervisor
[email protected] https://www.linkedin.com/in/abolfazl-mohebbi-5562814b/
Sofiane ACHICHE Co- supervisor
[email protected] https://www.linkedin.com/in/sofianeachiche/
Exo-H3
Upper Limb Exoskeleton Serving the Prevention of Work induced Diseases
Thomas Helbig1, Sabine Wenzel1, Stefan Kreipe2, Moritz Goos1*, Stefan Lutherdt1, Nikolaus-Peter Schumann2* und Hartmut Witte1
1 Technische Universität Ilmenau, Fachgebiet Biomechatronik, Institut für Mikro- und Nanotechnologien IMN MacroNano®, Ilmenau
2 Friedrich-Schiller-Universität Jena, Universitätsklinikum Jena, Klinik für Unfall-, Hand- und Wiederher-stellungschirurgie, Funktionsbereich Motorik, Pathophysiologie und Biomechanik, Jena
* formerly
Exoskeletons promise to unburden workers physically, especially at workplaces with assembling tasks. Thus, developmental activities for such systems show bursts of growth at present. To make exoskeletons affordable for smaller companies, and thus to make them accessible to a large number of users, it is important to provide cost-ef-fective designs
The BMBF-funded research project LEVIAKTOR extends the solution space by taking bio- and environmentally compatible lightweight orthoses as a physical base for upper limb exoskeletons. Control of the electrically driven actuators with adapted gears uses multiple sensory inputs based on kinematic, kinetic and physiological data, in combi-nation with predictive filtering to increase adaptivity and flexibility. This prevents from work-induced diseases and increases the perceived comfort with result of higher ac-ceptance.
Embroidered on-body Smart Sensors
using Conductive Fabrics for Wearable
Applications
Highlights
• Embroidered on-body smart sensors using conductive fabrics for wearable applications
• SEM-based circuit modelling and the transient analysis of Octagonal shaped RFID tag
• Scattering behaviour of the Electromagnetic wave and the measurement of coupling coefficients
• On-body RCS, code verifications and the bending analysis of the tag
• Maximum read range estimation
• Applications
It is now well understood that as compared to crutches or knee scooters, the iWALK (https://iwalk-free.com/) which is a Hands-Free Crutch (HFC) allows patients to perform in their activities of daily living. Less known are the clinical benefits, which are now supported by evidence-based research. Comparisons of crutches and knee scooters to the HFC have shown that the HFC provides:
• Increased patient preference – 90% of patients prefer the HFC over crutches or knee scooter
• Increased muscle activity – Crutches and scooters invoke minimal muscle activity of the non-weight bearing limb. Because the HFC recruits the lower body similar to normal human gait, both upper and lower muscles of the affected limb are activated in phase with the HFC.
• Decreased muscle atrophy – Muscle atrophy is reduced when using the HFC as compared to crutches or knee scooters.
• Increased blood oxygen concentration and delivery – Use of the HFC results in higher blood oxygen delivery to the injured limb.
• Improved stability and safety – Users of the HFC are more stable and have fewer secondary mobility device related injuries than crutches or knee scooters.
• Faster recovery - The HFC provides faster recovery than crutches or knee scooters.
• Increased compliance to non-weight bearing recommendations.
CLINICAL BENEFITS OF THE HANDS FREE CRUTCH (HFC)
www.exo-berlin.de www.nbt-berlin.de