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Title [en]
Assistive exoskeleton suitable for elderly persons
Abstract [sv]
Syfte och mål: 1. En lätt, anpassningsbar och användarvänlig LB-AXO systemutveckling som ger stöd till sina äldre användare enligt deras önskemål. 2. Ett förstärkt reglersystem baserat på mänsklig avsikt utvecklad och testad. 3. Ett prototyp LB-AXO exoskelettsystem utvecklat som kan ge upp till 50% hjälp till användarna, som testats på unga forskare och äldre användare för att visa fysisk hjälp i viktiga dagliga livsrörelser. 4. Kommersialisering i knärehabilitering, medicinska och icke-medicinska konsumentmarknader föreslogs. Förväntade effekter och resultat: AXO-SUIT har förbättrat tekniken för LB exoskeleton jämfört med tidigare version EXO-LEGS. Systemets vikt och storlek har minskats avsevärt. Mänskligt intentionsbaserat reglersystem visade lovande framsteg. Täta samarbeten med sjukhus och äldre slutanvändare bidrog till att förstå och införliva de medicinska och icke-medicinska användarnas reella behov. Framtida arbete inom LB-tekniken kan fokusera på produktutveckling för behövande användare, eftersom teknikutvecklingen på labnivån testas för olika slutanvändare. Upplägg och genomförande: Ett nytt lättviktigt, anpassningsbart modulärt design-tillvägagångssätt gav ett förbättrat LB-system. Den robusta reglermetoden gör att bäraren kan stödjas på ett symboliskt sätt genom att automatiskt ge den extra effekt som behövs för att utföra de önskade rörelserna. Anpassningsförmågan och robust styrbarhet är avgörande för enkel och snabb anpassning av LB-system som en marknadsprodukt. Designförbättringar och testresultat visade framgångsrikt potential för utveckling av en anpassningsbar produkt för äldre och rehabiliterande slutanvändare.
Abstract [en]
Purpose and goal: 1.A lightweight, adaptable and user-friendly LB-AXO system development providing assistance to its elderly users according to their aspirations. 2.An enhanced human intention based control system developed and tested. 3.A prototype LB-AXO exoskeleton system developed able to provide up to 50% assistance to users and was tested on young researchers and elderly users to demonstrate physical assistance in key daily life motions. 4.Commercialization in knee-rehabilitation, medical and non-medical consumer markets explored. Expected results and effects: AXO-SUIT has improved the technology of LB exoskeleton as compared to previous version EXO-LEGS. The weight and size of the system is considerably reduced. Human intention based control system showed promising advancements. Close collaborations with hospitals and elderly end-users helped to understand and incorporate the real needs of the medical and non-medical users. The advance work in the LB technology can focus towards product development for needy users as the technology development at lab level is tested for different end-users. Approach and implementation: A new lightweight, adaptable modular design approach realized improved LB system. The robust control method allows the wearer to be supported in a symbolic manner by automatically providing the top-up power needed to perform the desired motions. The adaptability and robust controllability needs are crucial for easy and swift customization of LB system as a market product. Design improvements and test outcomes successfully exhibited potential of development of an adaptable product for elderly, commercial and rehabilitation end-users.
Publications (6 of 6) Show all publications
Christensen, S., Bai, S., Rafique, S., Isaksson, M., O'Sullivan, L., Power, V. & Virk, G. S. (2019). AXO-SUIT: A Modular Full-Body Exoskeleton for Physical Assistance. In: Alessandro Gasparetto and Marco Ceccarelli (Ed.), Alessandro Gasparetto and Marco Ceccarelli (Ed.), Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics. Paper presented at MEDER: IFToMM Symposium on Mechanism Design for Robotics,11-13 September 2018, Udine, Italy (pp. 443-450). Paper presented at MEDER: IFToMM Symposium on Mechanism Design for Robotics,11-13 September 2018, Udine, Italy. Cham: Springer Netherlands, 66
Open this publication in new window or tab >>AXO-SUIT: A Modular Full-Body Exoskeleton for Physical Assistance
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2019 (English)In: Mechanism Design for Robotics: Proceedings of the 4th IFToMM Symposium on Mechanism Design for Robotics / [ed] Alessandro Gasparetto and Marco Ceccarelli, Cham: Springer Netherlands, 2019, Vol. 66, p. 443-450Chapter in book (Refereed)
Abstract [en]

This paper presents the design of a modular full-body assistive exoskeleton (FB-AXO) for older adults which was developed with funding under the AAL funded AXO-SUIT project. Processes used to formulate a prioritized set of functional and design requirements via close-end-user involvement are outlined and used in realizing the exoskeleton. Design of the resulting mechanics and electronics details for the lower and upper-body subsystems (LB-AXO and (UB-AXO)) are described. Innovative designs of shoulder and spine mechanisms are presented. TheFB-AXO system comprises 27 degrees of freedom, of which 17 are passive and 10 active. The exoskeleton assists full-body motions such as walking, standing, bending, as well as performing lifting and carrying tasks to assist older users performing tasks of daily living.

Place, publisher, year, edition, pages
Cham: Springer Netherlands, 2019
Series
Mechanisms and Machine Science, ISSN 22110984 ; 66
Keywords
Exoskeleton, Full Body, Lower Body, Upper Body, Assistance
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-27926 (URN)10.1007/978-3-030-00365-4_52 (DOI)000460585000052 ()2-s2.0-85052801351 (Scopus ID)978-3-030-00364-7 (ISBN)978-3-030-00365-4 (ISBN)
Conference
MEDER: IFToMM Symposium on Mechanism Design for Robotics,11-13 September 2018, Udine, Italy
Funder
Vinnova, 2014-05953
Note

Papers presented at IFToMM Symposium on Mechanism Design for Robotics, 11-13 August 2018, Udine, Italy

Funding:

- EU AAL Programme- Innovation Fund Denmark- Agentschap Innoveren Ondernemen- Enterprise Ireland 

Available from: 2018-09-19 Created: 2018-09-19 Last updated: 2019-11-29Bibliographically approved
Bai, S., Christensen, S., Islam, M., Rafique, S., Masud, N., Mattsson, P., . . . Power, V. (2019). Development and testing of full-body exoskeleton AXO-SUIT for physical assistance of the elderly. In: Maria Chiara Carrozza, Silvestro Micera, José L. Pons (Ed.), Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy. Paper presented at 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy (pp. 180-184). Cham: Springer, 22
Open this publication in new window or tab >>Development and testing of full-body exoskeleton AXO-SUIT for physical assistance of the elderly
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2019 (English)In: Wearable Robotics: Challenges and Trends: Proceedings of the 4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy / [ed] Maria Chiara Carrozza, Silvestro Micera, José L. Pons, Cham: Springer, 2019, Vol. 22, p. 180-184Conference paper, Published paper (Refereed)
Abstract [en]

This paper presents the design and preliminary testing of a full-body assistive exoskeleton AXO-SUIT for older adults. AXO-SUIT is a system of modular exoskeletons consisting of lower-body and upper-body modules, and their combination as full body as well to provide flexible physical assistance as needed. The full-body exoskeleton comprises 27 degrees of freedom, of which 17 are passive and 10 active, which is able to assist people in walking, standing, carrying and handling tasks. In the paper, design of the AXO-SUIT is described. End-user testing results are presented to show the effectiveness of the exoskeleton in providing flexible physical assistance.

Place, publisher, year, edition, pages
Cham: Springer, 2019
Series
Biosystems & Biorobotics (BIOSYSROB), ISSN 2195-3562, E-ISSN 2195-3570 ; 22
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:hig:diva-28664 (URN)10.1007/978-3-030-01887-0_35 (DOI)2-s2.0-85055055913 (Scopus ID)978-3-030-01886-3 (ISBN)978-3-030-01887-0 (ISBN)
Conference
4th International Symposium on Wearable Robotics, WeRob2018, October 16-20, 2018, Pisa, Italy
Funder
Vinnova, 2014-05953
Note

The work reported here is supported by the EU AAL Programme, Innovation Fund Denmark, Vinnova, Agentschap Innoveren & Ondernemen and Enterprise Ireland.

Available from: 2018-11-26 Created: 2018-11-26 Last updated: 2019-11-29Bibliographically approved
Krishnan, R., Björsell, N. & Smith, C. (2017). Segmenting humeral submovements using invariant geometric signatures. In: Bicchi, A., Okamura, A. (Ed.), 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (Iros): . Paper presented at 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 24–28 September 2017, Vancouver, Canada (pp. 6951-6958). IEEE, Article ID 8206619.
Open this publication in new window or tab >>Segmenting humeral submovements using invariant geometric signatures
2017 (English)In: 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (Iros) / [ed] Bicchi, A., Okamura, A., IEEE, 2017, p. 6951-6958, article id 8206619Conference paper, Published paper (Refereed)
Abstract [en]

Discrete submovements are the building blocks of any complex movement. When robots collaborate with humans, extraction of such submovements can bevery helpful in applications such as robot-assisted rehabilitation. Our work aims to segment these submovements based on the invariant geometric information embedded in segment kinematics. Moreover, this segmentation is achieved without any explicit kinematic representation.Our work demonstrates the usefulness of this invariant framework in segmenting a variety of humeral movements, which are performed at different speeds across different subjects. Our results indicate that this invariant framework has high computational reliability despite the inherent variability in human motion.

Place, publisher, year, edition, pages
IEEE, 2017
Series
IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Keywords
Kinematics, Human Movement Understanding, Human-centric Robotics
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-25214 (URN)10.1109/IROS.2017.8206619 (DOI)000426978206070 ()2-s2.0-85041961221 (Scopus ID)978-1-5386-2682-5 (ISBN)978-1-5386-2681-8 (ISBN)
Conference
2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017), 24–28 September 2017, Vancouver, Canada
Projects
(AAL Call) AXO-SUIT project
Funder
Vinnova, 2014-05953
Available from: 2017-09-12 Created: 2017-09-12 Last updated: 2019-12-11Bibliographically approved
Krishnan, R., Björsell, N. & Smith, C. (2016). Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study. In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS): . Paper presented at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 9-14 October 2016, Daejeon, Korea (pp. 4469-4476). IEEE Robotics and Automation Society, Article ID 7759658.
Open this publication in new window or tab >>Invariant Spatial Parametrization of Human Thoracohumeral Kinematics: A Feasibility Study
2016 (English)In: 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE Robotics and Automation Society, 2016, p. 4469-4476, article id 7759658Conference paper, Published paper (Refereed)
Abstract [en]

In this paper, we present a novel kinematic framework using hybrid twists, that has the potential to improve the reliability of estimated human shoulderkinematics. This is important as the functional aspects ofthe human shoulder are evaluated using the information embedded in thoracohumeral kinematics. We successfully demonstrate in our results, that our approach is invariant of the body-fixed coordinate definition, is singularity free and has high repeatability; thus resulting in a flexible user-specific kinematic tracking not restricted to bony landmarks.

Place, publisher, year, edition, pages
IEEE Robotics and Automation Society, 2016
Keywords
Human movement analysis, Kinematics, Human detection and tracking
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-22193 (URN)10.1109/IROS.2016.7759658 (DOI)000391921704074 ()27295638 (PubMedID)2-s2.0-85006427957 (Scopus ID)978-1-5090-3762-9 (ISBN)
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2016), 9-14 October 2016, Daejeon, Korea
Funder
Vinnova, 2014-05953
Note

Accepted paper. This preprint is for personal use only.

(AAL Call 6) AXO-SUIT project

Available from: 2016-08-07 Created: 2016-08-07 Last updated: 2019-12-11Bibliographically approved
Haider, U., Nyoman, I. I., Coronado, J. L., Kim, C. & Virk, G. S. (2016). User-centric Harmonized Control for Single Joint Assistive Exoskeletons. International Journal of Advanced Robotic Systems, 13(3), Article ID 115.
Open this publication in new window or tab >>User-centric Harmonized Control for Single Joint Assistive Exoskeletons
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2016 (English)In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 13, no 3, article id 115Article in journal (Refereed) Published
Abstract [en]

The world is ageing and this poses a challenge to produce cost-effective solutions that can keep elderly people independent and active by assisting them in daily living activities. In this regard, this paper presents a new control method to provide physical assistance for any of the user joints (e.g., hip, knee, elbow, etc.) as needed by the wearer, by means of an assistive non-medical single joint exoskeleton with a "harmonized controller" capable of providing assistance in a natural way, and varying the assistance as needed by the user performing some activity. The control method is aimed at exoskeletons to provide assistance to users facing difficulty in any activity such as walking, sit-to-stand, etc., and, other than providing assistance as needed, it can also reduce the muscular effort for a completely healthy user. Harmonized control uses exoskeleton-integrated force sensors and motion sensors to identify the user's intentions and the assistance level required, generating appropriate control signals for the actuators by implementing a simple PID controller. To verify the proposed harmonized-control technique, simulations using MATLAB/SIMULINK were performed for a single joint system. An experimental test rig for a single joint was also developed using MATLAB Xpc Target for real-time control. User tests were also carried out for the knee joint and the results obtained from simulations, experimentation and user tests are reported and discussed here. The results achieved to date and reported here show harmonized control to be a promising user-centric solution for the development of single joint assistive exoskeletons for support as needed by the user in daily living activities.

Keywords
Assistive Exoskeleton, Control Method, User-centric Control, Harmonized Control
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-22110 (URN)10.5772/63791 (DOI)000377335500003 ()2-s2.0-84993971917 (Scopus ID)
Funder
Vinnova, 2014-05953
Available from: 2016-07-06 Created: 2016-07-06 Last updated: 2019-10-03Bibliographically approved
O’Sullivan, L., Power, V., Virk, G. S., Masud, N., Haider, U., Christensen, S., . . . Voncke, K. (2015). End user needs elicitation for a full-body exoskeleton to assist the elderly. In: Ahram, T., Karwowski, W. and Schmorrow, D. (Ed.), 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015) and the  affiliated conferences: . Paper presented at 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015), 26-30 July 2015, Las Vegas, Neevada, USA (pp. 1403-1409). Amsterdam: Elsevier
Open this publication in new window or tab >>End user needs elicitation for a full-body exoskeleton to assist the elderly
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2015 (English)In: 6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015) and the  affiliated conferences / [ed] Ahram, T., Karwowski, W. and Schmorrow, D., Amsterdam: Elsevier, 2015, p. 1403-1409Conference paper, Published paper (Refereed)
Abstract [en]

For ageing individuals, declining physical functional capacity can lead to loss of independence, decreased engagement in the community and reductions in quality of life. As such, solutions that can effectively and affordably supplement older adults’ diminishing functional capacity, and thus facilitate maintained independence and social participation over time are urgently required. The AXO-SUIT project - funded by the European Commission under the Ambient Assisted Living Joint Programme is developing assistive exoskeleton devices for older adults with impaired mobility and/or difficulties in performingactivities of daily living. This paper will report on-going research which aims to identify end user needs, and thus provide inputs to specify the design requirements of the AXO-SUIT exoskeletons. The objectives of this initial questionnaire study are to identify the functional assistance requirements of potential end users of the AXO-SUIT in terms of mobility, reaching and handling, and full-body support for performing activities of daily livingat home and in the wider community. The end user requirements identified will be used to formulate functional specifications for the AXO-SUIT lower-body and upper-body sub-systems, which will ensure that the AXO-SUIT prototypes will provide for the specific mobility, reaching and handling needs of end users, and also to provide useful insights into the perspectives and needs of end users in relation to assistive exoskeletons in general.

Place, publisher, year, edition, pages
Amsterdam: Elsevier, 2015
Keywords
Assitive exoskeleton; Elderly; End user needs
National Category
Medical Engineering Occupational Health and Environmental Health
Identifiers
urn:nbn:se:hig:diva-22872 (URN)10.1016/j.promfg.2015.07.302 (DOI)000383740301068 ()2-s2.0-85009948889 (Scopus ID)
Conference
6TH International Conference on Applied Human Factors and Ergonomics (AHFE 2015), 26-30 July 2015, Las Vegas, Neevada, USA
Funder
Vinnova, 2014-05953
Available from: 2016-11-28 Created: 2016-11-28 Last updated: 2019-10-01Bibliographically approved
Principal InvestigatorRafique, Sajid
Project OfficerVirk, Gurvinder Singh
Co-InvestigatorRakesh, Krishnan
Co-InvestigatorKim, Chanki
Co-InvestigatorMasud, Nauman
Co-InvestigatorNyoman, Indrawibawa I.
Co-InvestigatorRupal, Baltej Singh
Co-InvestigatorHaider, Usman
Co-InvestigatorMattsson, Per
Coordinating organisation
University of Gävle
Funder
Period
2014-10-01 - 2018-03-31
Keywords [sv]
AXO-SUIT, Robotik, Åldrande befolkning
Keywords [en]
AXO-SUIT, Robotics, Elderly people
National Category
Robotics
Identifiers
DiVA, id: project:278Project, id: 2014-05953_Vinnova

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