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Title [sv]
Exoskelettben för äldre personer (EXO-LEGS)
Title [en]
Exoskeleton legs for elderly persons (EXO-LEGS)
Abstract [sv]
EXO-LEGS samlar slutanvändare, företag och forskningsorganisationer på EU-nivå för att ange inomhus- och utomhusrörlighetsbehov hos äldre så att de kan fortsätta att leva självständigt så länge som möjligt. De erhållna verkliga kraven på rörlighet används för att realisera teoretiska begrepp och modulära ramar för att utforma, utveckla och testa olika exoskelettprototyper (halv- och fullmodellerna). Den övergripande arbetsplanen är organiserad i 6 arbetspaket som innehåller följande: 1) WP1 (Slutanvändare och användarscenarier): Ställa in och hantera en intressent mängd med fullständiga etiska överväganden så äldres krav på rörlighet kan fastställas och resulterande exoskelett testas av verkliga slutanvändare, 2) WP2 (exoskeletonkomponenter): Teoretiska studier av nödvändiga system, för förverkligandet av exoskelettkomponenter såsom mekaniska delar, sensorer och regulatorer, användargränssnitt, etc., 3) WP3 (Systemintegration, testning och validering): Konfiguration av komponenter som utvecklats för att förverkliga Basic-, Standard- och Deluxe-exoskelett, och testning av forskare i laboratorier, 4) WP4 (Pilot testbäddar): Användartester gjorda av äldre personer i Sverige, Tyskland, Spanien, Schweiz och Storbritannien, 5) WP5 (Kommersialisering): Utveckling av affärs- och tjänstemodeller för implementering i olika regioner i EU, och spridning av projektresultat, och 6) WP6 (Projektledning): Total arbetsplan och administration, ekonomi, rapportering, kvalitetssäkring, etc.
Abstract [en]
EXO-LEGS brings together end-users, companies, and research organisations at the EU level to specify the indoor and outdoor mobility needs of elderly persons to enable them to continue living independently for as long as possible. The real-world mobility requirements obtained are used to realise theoretical concepts and modular frameworks to design, develop and test various exoskeleton prototypes (half- and full- models). The overall work plan is organised in 6 workpackages which comprise the following: 1) WP1 (End users and scenarios): Setting up and managing a stakeholder pool with ethical considerations so the mobility requirements of elderly persons can be determined and the resulting exoskeletons tested by real end users; 2) WP2 (Exoskeleton components): Theoretical studies of the systems needed, realisation of exoskeleton components comprising mechanical parts, sensors & controls, user interfaces, etc; 3) WP3 (System integration, testing and validation): Configuration of the components developed to realise Basic, Standard, and Deluxe exoskeletons, and testing by researchers in laboratories; 4) WP4 (Pilot test beds): User testing by elderly persons in Sweden, Germany, Spain, Switzerland, and UK; 5) WP5 (Commercialisation): Development of business and service models for implementation in different regions of the EU, and dissemination of the project results, and 6) WP6 (Project management): Overall work plan management and administration, finance, reporting, quality assurance, etc.
Publications (5 of 5) Show all publications
Singh Rupal, B., Rafique, S., Singla, A., Singla, E., Isaksson, M. & Singh Virk, G. (2017). Lower-limb exoskeletons: Research trends and regulatory guidelines in medical and non-medical applications. International Journal of Advanced Robotic Systems, 14(6), 1-27
Open this publication in new window or tab >>Lower-limb exoskeletons: Research trends and regulatory guidelines in medical and non-medical applications
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2017 (English)In: International Journal of Advanced Robotic Systems, ISSN 1729-8806, E-ISSN 1729-8814, Vol. 14, no 6, p. 1-27Article, review/survey (Refereed) Published
Abstract [en]

With the recent progress in personal care robots, interest in wearable exoskeletons has been increasing due to the demand for assistive technologies generally and specifically to meet the concerns in the increasing ageing society. Despite this global trend, research focus has been on load augmentation for soldiers/workers, assisting trauma patients, paraplegics, spinal cord injured persons and for rehabilitation purposes. Barring the military-focused activities, most of the work to date has focused on medical applications. However, there is a need to shift attention towards the growing needs of elderly people, that is, by realizing assistive exoskeletons that can help them to stay independent and maintain a good quality of life. Therefore, the present article covers the rapidly evolving area of wearable exoskeletons in a holistic manner, for both medical and non-medical applications, so that relevant current developments and future issues can be addressed; this includes how the physical assistance/rehabilitation/compensation can be provided to supplement capabilities in a natural manner. Regulatory guidelines, important for realizing new markets for these emerging technologies, are also explored in this work. For these, emerging international safety requirements are presented for non-medical and medical exoskeleton applications, so that the central requirement of close human–robot interactions can be adequately addressed for the intended tasks to be carried out. An example case study on developing and commercializing wearable exoskeletons to help support living activities of healthy elderly persons is presented to highlight the main issues in non-medical mobility exoskeletons. This also paves the way for the potential future trends to use exoskeletons as physical assistant robots, as covered by the recently published safety standard ISO 13482, to help elderly people perform their activities of daily living.

Place, publisher, year, edition, pages
Sage Publications, 2017
Keywords
Lower-limb exoskeletons, wearable robots, disability technologies, mobility augmentation, medical/non-medical regulations
National Category
Electrical Engineering, Electronic Engineering, Information Engineering
Identifiers
urn:nbn:se:hig:diva-25734 (URN)10.1177/1729881417743554 (DOI)000417219300001 ()2-s2.0-85039909573 (Scopus ID)
Funder
Vinnova, 2012-03255
Available from: 2017-12-05 Created: 2017-12-05 Last updated: 2019-10-03Bibliographically approved
Haider, U., Nyoman, I. I., Kim, C., Masud, N., Virk, G. S. & Coronado, J. L. (2017). Modular EXO-LEGS for mobility of elderly persons. In: Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016. Paper presented at 19th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 12-14 September 2016, London, UK (pp. 851-859). Singapore: World Scientific
Open this publication in new window or tab >>Modular EXO-LEGS for mobility of elderly persons
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2017 (English)In: Advances in Cooperative Robotics: Proceedings of the 19th International Conference in CLAWAR 2016, Singapore: World Scientific, 2017, p. 851-859Conference paper, Published paper (Refereed)
Abstract [en]

The paper presents details of the AAL Call 4 EXO-LEGS project aimed at developing and testing lower body assistive exoskeletons to help elderly persons perform daily living activities independently such as stable standing, sit-to-stand transfers and straight walking. The key components needed have been realized using mobility requirements and design preferences provided by an end user group comprising 118 members via 5 surveys. Modular human-centric concepts are followed for mechanical design, sensing and actuation, system integration, etc., to realize a BASIC exoskeleton prototype able to provide up to 30% power to assist the human perform the intended motions. Two ethical approvals have been obtained to involve end users in the research, development and test phases of the project. To date, 5 test subjects have tested the exoskeleton prototype in walking and the sit-to-stand test; summary results are presented in this paper.

Place, publisher, year, edition, pages
Singapore: World Scientific, 2017
National Category
Computer Vision and Robotics (Autonomous Systems)
Identifiers
urn:nbn:se:hig:diva-22835 (URN)10.1142/9789813149137_0099 (DOI)000386326300099 ()2-s2.0-84999806599 (Scopus ID)978-981-3149-12-0 (ISBN)978-981-3149-14-4 (ISBN)
Conference
19th International Conference series on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), 12-14 September 2016, London, UK
Funder
EU, Horizon 2020Vinnova, 2012-03255
Available from: 2016-11-25 Created: 2016-11-25 Last updated: 2019-10-03Bibliographically approved
Virk, G. S., Haider, U., Nyoman, I. I., Masud, N., Mamaev, I., Hopfgarten, P. & Hein, B. (2016). Design of EXO-LEGS exoskeletons. In: Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015: . Paper presented at 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 6-9 September 2015, HangZhou, China (pp. 59-66).
Open this publication in new window or tab >>Design of EXO-LEGS exoskeletons
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2016 (English)In: Assistive Robotics: Proceedings of the 18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 2016, p. 59-66Conference paper, Published paper (Refereed)
Abstract [en]

The paper describes the design details for realising the EXO-LEGS assistive exoskeletons for Ambient Assisted Living (AAL) applications based on modelling and simulation studies performed for key mobility functionalities in activities for daily living such as stable standing in open space and straight walking. The results provide the basis for selecting sensors and actuators to develop the needed assistive exoskeletons to help the elderly to stay active and independent for as long as possible.

Keywords
Mobile robots; Walking aids, Ambient assisted living (AAL); Assistive; Daily living; Modelling and simulations; Sensors and actuators, Exoskeleton (Robotics)
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-23261 (URN)000391656500011 ()2-s2.0-84999837795 (Scopus ID)978-981-4725-23-1 (ISBN)
Conference
18th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2015, 6-9 September 2015, HangZhou, China
Funder
Vinnova, 2012-03255
Available from: 2017-01-09 Created: 2017-01-09 Last updated: 2019-10-03Bibliographically approved
Virk, G. S., Haider, U., Indrawibawa, I. N., Thekkeparanipumadom, R. K. & Masud, N. (2014). Exo-legs for elderly persons. In: Krzysztof Kozłowski, Mohammad O. Tokhi, Gurvinder S. Virk (Ed.), Mobile service robotics: . Paper presented at 17th International Conference on Climbing and Walking Robots (CLAWAR), JUL 21-23, 2014, Poznan, Poland (pp. 85-92). Singapore: World Scientific
Open this publication in new window or tab >>Exo-legs for elderly persons
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2014 (English)In: Mobile service robotics / [ed] Krzysztof Kozłowski, Mohammad O. Tokhi, Gurvinder S. Virk, Singapore: World Scientific, 2014, p. 85-92Conference paper, Published paper (Refereed)
Abstract [en]

The paper presents a research update on the AAL Call 4 EXO-LEGS project aimed at developing lower-body mobility exoskeletons to assist elderly persons to stay independent in their normal daily living activities for as long as possible. The important movement functionalities and key design issues to be included in the process are identified via specifically developed questionnaires and responses from a pan-European end user group set up as part of the project. The user requirements are used together with the recently published ISO safety requirements for personal care robots to perform targeted technical research in the areas of human gait analysis, modelling and simulation, mechanical engineering, embedded system design, and ergonomic user interfacing.

Place, publisher, year, edition, pages
Singapore: World Scientific, 2014
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-18313 (URN)000342693100011 ()2-s2.0-84991754640 (Scopus ID)978-981-4623-34-6 (ISBN)
Conference
17th International Conference on Climbing and Walking Robots (CLAWAR), JUL 21-23, 2014, Poznan, Poland
Funder
Vinnova, 2012-03255
Available from: 2014-12-09 Created: 2014-12-09 Last updated: 2019-10-03Bibliographically approved
Indrawibawa, I. N. & Virk, G. S. (2013). Exoskeleton for assisting human walking. In: Kenneth J Waldron, Mohammad O Tokhi and Gurvinder S Virk (Ed.), Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013. Paper presented at 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, 14-17 July 2013, Sydney, NSW (pp. 117-124). World Scientific Publishing Co.
Open this publication in new window or tab >>Exoskeleton for assisting human walking
2013 (English)In: Nature-Inspired Mobile Robotics: Proceedings of the 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, World Scientific Publishing Co. , 2013, p. 117-124Conference paper, Published paper (Refereed)
Abstract [en]

As the ageing society's problems evolve, mobility aid requirements are beginning to gain impetus and detailed studies on humans performing their normal activities for daily living are becoming urgent. The paper presents the design of a lower-body exoskeleton, which can be easily put on and worn, and used for recording human motions. In this way, the mobility requirements for performing daily living tasks are determined. The research involves the design of a 4 degree of freedom (DOF) lower-body prototype system used in acquiring basic motion data from volunteers as they perform basic walking tasks using embedded sensors for recording the hip and knee angles and transmitting them wirelessly. Walking tests with 20 volunteers are carried out after ethical considerations have been addressed; these cover human safety, full informed consent and privacy ensured by presenting the results in an anonymous manner. 

Place, publisher, year, edition, pages
World Scientific Publishing Co., 2013
Keywords
Degree of freedom (dof), Embedded sensors, Ethical considerations, Hip and knees, Human walking, Mobility aids, Prototype system, Walking tasks, Mobile robots, Walking aids
National Category
Robotics
Identifiers
urn:nbn:se:hig:diva-19482 (URN)10.1142/9789814525534_0018 (DOI)000337122900018 ()2-s2.0-84891364850 (Scopus ID)978-981-4525-52-7 (ISBN)
Conference
16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013, 14-17 July 2013, Sydney, NSW
Funder
Vinnova, 2012-03255
Note

Book DOI: 10.1142/8913

Konferens: 16th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2013; Sydney, NSW, Australia, 14 July 2013 through 17 July 2013

Available from: 2015-06-07 Created: 2015-06-07 Last updated: 2019-10-03Bibliographically approved
Principal InvestigatorKim, Chanki
Project OfficerVirk, Gurvinder Singh
Co-InvestigatorNyoman, Indrawibawa I.
Co-InvestigatorHaider, Usman
Co-InvestigatorKrishnan, Rakesh
Co-InvestigatorMasud, Nauman
Coordinating organisation
University of Gävle
Funder
Period
2012-10-01 - 2016-03-31
National Category
RoboticsBiomedical Laboratory Science/Technology
Identifiers
DiVA, id: project:293Project, id: 2012-03255_Vinnova

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