Upper limb exosuit cable routing optimization.

Exosuits are emerging as promising in assisting with activities of daily living. In the design phase of an exosuit, it is fundamental to maximize its portability. The goal of this work was to identify the best cable routing configuration for an upper limb cable-driven exosuit to assist elbow flexion. Simulations were run in OpenSim. Different cable configurations were evaluated. The goal was to minimize the overall tension of the cables to reduce the device's power consumption and torque requirements. The optimal configuration was evaluated in simulation for different percentages of assistance to study its effects in terms of muscle activation and joint reaction forces. We then tested three different configurations on a test bench to both evaluate the motor current and their effect on the pronation/supination of the elbow. Simulation results suggested that a double cable configuration might help to lower the motor torque and power consumption. This conclusion was supported by the experimental results, in which the motor current was reduced by 12.5% with respect to the single cable configuration. Simulation results also showed that the optimal configuration lowered muscle activation without greatly affecting joint reactions at the elbow, even though it might cause unwanted pronation/supination, as experimental results confirmed. However, since a double configuration results in greater complexity and reduced efficiency, single-cable solutions still represent a good option.

A force-based human machine interface to drive a motorized upper limb exoskeleton. a pilot study.

Muscular dystrophy is a strongly invalidating disease that causes the progressive loss of motor skills. The use of assistive devices, especially those in support of the upper limb, can increase the ability to perform daily-life activities and foster a partial recovery of the lost motor functionalities. However, for the use of these devices to be truly effective and accepted by patients, their activation must coincide with the user's intention to move. This work describes a new human-machine interface based on the integration of a six-axis force sensor to drive an upper limb motorized exoskeleton. This novel system can detect the patient's intention to move and produce displacements of the robotic device that are of magnitude and direction consistent with the user's wishes. The integration of the force-sensor interface in the BRIDGE/EMPATIA exoskeletal system was successful, and tests performed on both healthy and dystrophic subjects showed promising results, especially for the execution of planar movements.

Upper-limb actuated exoskeleton for muscular dystrophy patients: preliminary results.

Being able to perform a lost movement is an important experience towards increased independence and self-esteem, particularly for neuromuscular patients, who see their muscles weaken day after day. In this pilot study, preliminary results on the testing of a motorized upper-limb exoskeleton for muscular dystrophy patients are presented. The mechatronic system is a five Degrees of Freedom exoskeleton, which acts at shoulder, elbow, and wrist levels. It is designed to help severely impaired people to regain independence during daily-life activities. While wearing the exoskeleton, the user has the direct control of the system by actively piloting the position of end-effector by means of joystick or vocal control. The usability of the system and a quantitative assessment of arm functionality with and without the exoskeleton are evaluated on five muscular dystrophy patients. According to the objective functional benefit evaluation performed through the PUL scale, all participants strongly increased their range of motion and they were able to perform activities that were not possible without the exoskeleton, such as such as feeding, playing activities at the table, combing hair or using a keyboard. As for the evaluation of self-perceived functional benefit, four patients reflected the effective measured functional improvement. System usability has been evaluated to be good.

Nonlocal effective-average-action approach to crystalline phantom membranes.

We investigate the properties of crystalline phantom membranes, at the crumpling transition and in the flat phase, using a nonperturbative renormalization group approach. We avoid a derivative expansion of the effective average action and instead analyze the full momentum dependence of the elastic coupling functions. This leads to a more accurate determination of the critical exponents and further yields the full momentum dependence of the correlation functions of the in-plane and out-of-plane fluctuation. The flow equations are solved numerically for D = 2 dimensional membranes embedded in a d = 3 dimensional space. Within our approach we find a crumpling transition of second order which is characterized by an anomalous exponent η{c} ≈ 0.63(8) and the thermal exponent ν ≈ 0.69. Near the crumpling transition the order parameter of the flat phase vanishes with a critical exponent ß ≈ 0.22. The flat phase anomalous dimension is η{f} ≈ 0.85 and the Poisson's ratio inside the flat phase is found to be σ{f} ≈ -1/3. At the crumpling transition we find a much larger negative value of the Poisson's ratio σ{c} ≈ -0.71(5). We discuss further in detail the different regimes of the momentum dependent fluctuations, both in the flat phase and in the vicinity of the crumpling transition, and extract the crossover momentum scales which separate them.