Soft wearable assistive robotics: Exosuits and supernumerary limbs

Lorenzo Masia; Irfan Hussain; Michele Xiloyannis; Claudio Pacchierotti; Leonardo Cappello; Monica Malvezzi; Giovanni Spagnoletti; Chris Wilson Antuvan; Dinh Binh Khanh; Maria Pozzi; Domenico Prattichizzo

doi:10.1049/PBCE108E_ch10

Soft wearable assistive robotics: Exosuits and supernumerary limbs

Lorenzo Masia, Irfan Hussain, Michele Xiloyannis, Claudio Pacchierotti, Leonardo Cappello, Monica Malvezzi, Giovanni Spagnoletti, Chris Wilson Antuvan, Dinh Binh Khanh, Maria Pozzi, Domenico Prattichizzo

Mechanical & Nuclear Engineering

Research output: Chapter in Book/Report/Conference proceeding › Chapter › peer-review

15 Scopus citations

Abstract

The intrinsic soft nature of compliant supernumerary limbs and exosuits makes them appealing candidates for assisting human movements, with potential applications in healthcare, human augmentation and logistics. In the following chapter, we describe the technology used in exosuits and supernumerary limbs for assistance of activities of daily living, with emphasis on aiding grasping and flexion/ extension of the elbow joint. We discuss the mechanical design principles of such devices, detail the control paradigms that can be used for intention-detection and present the design and evaluation of cutaneous interfaces used for force feedback rendering. Tests on healthy and impaired subjects highlight that exosuits and supernumerary limbs are potential cost-effective and intrinsically safe solutions for increasing the capabilities of healthy subjects and improving the quality of life of subjects suffering from motor disorders.

Original language	British English
Title of host publication	Wearable Exoskeleton Systems
Subtitle of host publication	Design, control and applications
Publisher	Institution of Engineering and Technology
Pages	219-254
Number of pages	36
ISBN (Electronic)	9781785613029
DOIs	https://doi.org/10.1049/PBCE108E_ch10
State	Published - 1 Jan 2018

Keywords

Assistive devices
Medical robots
Rehabilitation robotics
Soft robotics
Supernumerary limbs
Wearable robots

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10.1049/PBCE108E_ch10

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Masia, L., Hussain, I., Xiloyannis, M., Pacchierotti, C., Cappello, L., Malvezzi, M., Spagnoletti, G., Antuvan, C. W., Khanh, D. B., Pozzi, M., & Prattichizzo, D. (2018). Soft wearable assistive robotics: Exosuits and supernumerary limbs. In Wearable Exoskeleton Systems: Design, control and applications (pp. 219-254). Institution of Engineering and Technology. https://doi.org/10.1049/PBCE108E_ch10

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abstract = "The intrinsic soft nature of compliant supernumerary limbs and exosuits makes them appealing candidates for assisting human movements, with potential applications in healthcare, human augmentation and logistics. In the following chapter, we describe the technology used in exosuits and supernumerary limbs for assistance of activities of daily living, with emphasis on aiding grasping and flexion/ extension of the elbow joint. We discuss the mechanical design principles of such devices, detail the control paradigms that can be used for intention-detection and present the design and evaluation of cutaneous interfaces used for force feedback rendering. Tests on healthy and impaired subjects highlight that exosuits and supernumerary limbs are potential cost-effective and intrinsically safe solutions for increasing the capabilities of healthy subjects and improving the quality of life of subjects suffering from motor disorders.",

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author = "Lorenzo Masia and Irfan Hussain and Michele Xiloyannis and Claudio Pacchierotti and Leonardo Cappello and Monica Malvezzi and Giovanni Spagnoletti and Antuvan, {Chris Wilson} and Khanh, {Dinh Binh} and Maria Pozzi and Domenico Prattichizzo",

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Masia, L, Hussain, I, Xiloyannis, M, Pacchierotti, C, Cappello, L, Malvezzi, M, Spagnoletti, G, Antuvan, CW, Khanh, DB, Pozzi, M & Prattichizzo, D 2018, Soft wearable assistive robotics: Exosuits and supernumerary limbs. in Wearable Exoskeleton Systems: Design, control and applications. Institution of Engineering and Technology, pp. 219-254. https://doi.org/10.1049/PBCE108E_ch10

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AU - Pacchierotti, Claudio

AU - Cappello, Leonardo

AU - Malvezzi, Monica

AU - Spagnoletti, Giovanni

AU - Antuvan, Chris Wilson

AU - Khanh, Dinh Binh

AU - Pozzi, Maria

AU - Prattichizzo, Domenico

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Soft wearable assistive robotics: Exosuits and supernumerary limbs

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