subject:(wearable robots)

Cornell University

1. Vatsal, Vighnesh. A Wearable Robotic Forearm for Human-Robot Collaboration.

Degree: PhD, Mechanical Engineering, 2020, Cornell University

► The idea of extending and augmenting the capabilities of the human body has been an enduring area of exploration in fiction, research, and industry alike.… (more)

▼ The idea of extending and augmenting the capabilities of the human body has been an enduring area of exploration in fiction, research, and industry alike. The most concrete realizations of this idea have been in the form of wearable devices such as prostheses and exoskeletons, that replace or enhance existing human functions. With recent advances in sensing, actuation, and materials technology, we are witnessing the advent of a new class of wearable robots: Supernumerary Robotic (SR) devices that provide additional degrees of freedom to a user, typically in the form of extra limbs or fingers. The development, analysis, and experimental evaluation of one such SR device, a Wearable Robotic Forearm (WRF) for close-range collaborative tasks, forms the focus of this dissertation. We initiated its design process through a basic prototype mounted on a user's elbow, and conducted an online survey, a contextual inquiry at a construction site, and an in-person usability study to identify usage contexts and functions for such a device, and formed guidelines for improving the design. In the next WRF prototype, we added two more degrees of freedom while remaining within acceptable human ergonomic load limits, and expanding its reachable workspace volume. We then developed the final prototype based on further feedback from a pilot interaction study, and found an analytical solution for its inverse kinematics. Going beyond static analyses with predefined robot trajectories, we further addressed the biomechanical effects of wearing the WRF using a detailed musculoskeletal model, and developed a motion planner that minimizes loads on the user's muscles. Looking at the other side of the physical interaction between the user and WRF, we applied human motion prediction and feedback control for stabilizing the robot's end- effector position when subjected to disturbances from the wearer's body movements. Finally, we conducted a user study involving a collaborative pick-and-place task with the WRF acting in two conditions: responding to direct speech commands from the wearer, and predicting human intent using supervised learning models. We evaluated the quality of interaction in the two conditions through human-robot fluency metrics. The WRF, and its associated systems described in this dissertation do have limitations, particularly in terms of ergonomics, feedback control performance, and fluency of interaction. However, as a prototype, the WRF shows that SR devices can be effective agents in human-robot collaboration when they possess capabilities for mutual adaptation while reducing the cognitive load on the user. Advisors/Committee Members: Hoffman, Guy (chair), MacMartin, Douglas (committee member), Kress-Gazit, Hadas (committee member).

Subjects/Keywords: Human augmentation; Human-robot collaboration; Wearable robots

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APA (6^th Edition):

Vatsal, V. (2020). A Wearable Robotic Forearm for Human-Robot Collaboration. (Doctoral Dissertation). Cornell University. Retrieved from http://hdl.handle.net/1813/103258

Chicago Manual of Style (16^th Edition):

Vatsal, Vighnesh. “A Wearable Robotic Forearm for Human-Robot Collaboration.” 2020. Doctoral Dissertation, Cornell University. Accessed April 16, 2021. http://hdl.handle.net/1813/103258.

MLA Handbook (7^th Edition):

Vatsal, Vighnesh. “A Wearable Robotic Forearm for Human-Robot Collaboration.” 2020. Web. 16 Apr 2021.

Vancouver:

Vatsal V. A Wearable Robotic Forearm for Human-Robot Collaboration. [Internet] [Doctoral dissertation]. Cornell University; 2020. [cited 2021 Apr 16]. Available from: http://hdl.handle.net/1813/103258.

Council of Science Editors:

Vatsal V. A Wearable Robotic Forearm for Human-Robot Collaboration. [Doctoral Dissertation]. Cornell University; 2020. Available from: http://hdl.handle.net/1813/103258

Colorado School of Mines

2. Saadatzi, Mohammadhossein. Combined simulation of musculoskeletal biomechanics and exoskeletons.

Degree: PhD, Mechanical Engineering, 2018, Colorado School of Mines

URL: http://hdl.handle.net/11124/172541

► Wearable robots are becoming increasingly common, in both research laboratories and the industry, due to their significant potential benefits in rehabilitation engineering, assistive robotics, ergonomics,… (more)

Subjects/Keywords: bipedal walking; passive exoskeletons; wearable robots; metabolic energy expenditure; biomechanics; predictive simulation

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Saadatzi, M. (2018). Combined simulation of musculoskeletal biomechanics and exoskeletons. (Doctoral Dissertation). Colorado School of Mines. Retrieved from http://hdl.handle.net/11124/172541

Chicago Manual of Style (16^th Edition):

Saadatzi, Mohammadhossein. “Combined simulation of musculoskeletal biomechanics and exoskeletons.” 2018. Doctoral Dissertation, Colorado School of Mines. Accessed April 16, 2021. http://hdl.handle.net/11124/172541.

MLA Handbook (7^th Edition):

Saadatzi, Mohammadhossein. “Combined simulation of musculoskeletal biomechanics and exoskeletons.” 2018. Web. 16 Apr 2021.

Vancouver:

Saadatzi M. Combined simulation of musculoskeletal biomechanics and exoskeletons. [Internet] [Doctoral dissertation]. Colorado School of Mines; 2018. [cited 2021 Apr 16]. Available from: http://hdl.handle.net/11124/172541.

Council of Science Editors:

Saadatzi M. Combined simulation of musculoskeletal biomechanics and exoskeletons. [Doctoral Dissertation]. Colorado School of Mines; 2018. Available from: http://hdl.handle.net/11124/172541

Kyoto University

3. Sajid, Nisar. Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery .

Degree: 2019, Kyoto University

URL: http://hdl.handle.net/2433/242497

Subjects/Keywords: Robotic Manipulator Design; Surgical Robots; Remote Center of Motion Mechanism Design; Hand-grounded Haptics; Wearable Kinesthetic Haptics; Wearable Robots; Robot Teleoperation

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Sajid, N. (2019). Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery . (Thesis). Kyoto University. Retrieved from http://hdl.handle.net/2433/242497

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Chicago Manual of Style (16^th Edition):

Sajid, Nisar. “Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery .” 2019. Thesis, Kyoto University. Accessed April 16, 2021. http://hdl.handle.net/2433/242497.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

MLA Handbook (7^th Edition):

Sajid, Nisar. “Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery .” 2019. Web. 16 Apr 2021.

Vancouver:

Sajid N. Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery . [Internet] [Thesis]. Kyoto University; 2019. [cited 2021 Apr 16]. Available from: http://hdl.handle.net/2433/242497.

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Council of Science Editors:

Sajid N. Toward Novel Remote-Center-of-Motion Manipulators and Wearable Hand-Grounded Kinesthetic Haptics for Robot-Assisted Surgery . [Thesis]. Kyoto University; 2019. Available from: http://hdl.handle.net/2433/242497

Note: this citation may be lacking information needed for this citation format:
Not specified: Masters Thesis or Doctoral Dissertation

Arizona State University

4. Rezayat Sorkhabadi, Seyed Mostafa. Gait Dynamic Stability Analysis with Wearable Assistive Robots.

Degree: Mechanical Engineering, 2018, Arizona State University

URL: http://repository.asu.edu/items/50559

Subjects/Keywords: Mechanical engineering; Robotics; Biomechanics; Gait; Non-linear Dynamic Analysis; Stability; Wearable Robots

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Rezayat Sorkhabadi, S. M. (2018). Gait Dynamic Stability Analysis with Wearable Assistive Robots. (Masters Thesis). Arizona State University. Retrieved from http://repository.asu.edu/items/50559

Chicago Manual of Style (16^th Edition):

Rezayat Sorkhabadi, Seyed Mostafa. “Gait Dynamic Stability Analysis with Wearable Assistive Robots.” 2018. Masters Thesis, Arizona State University. Accessed April 16, 2021. http://repository.asu.edu/items/50559.

MLA Handbook (7^th Edition):

Rezayat Sorkhabadi, Seyed Mostafa. “Gait Dynamic Stability Analysis with Wearable Assistive Robots.” 2018. Web. 16 Apr 2021.

Vancouver:

Rezayat Sorkhabadi SM. Gait Dynamic Stability Analysis with Wearable Assistive Robots. [Internet] [Masters thesis]. Arizona State University; 2018. [cited 2021 Apr 16]. Available from: http://repository.asu.edu/items/50559.

Council of Science Editors:

Rezayat Sorkhabadi SM. Gait Dynamic Stability Analysis with Wearable Assistive Robots. [Masters Thesis]. Arizona State University; 2018. Available from: http://repository.asu.edu/items/50559

5. Puehn, Christian G. Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction.

Degree: MSs, EMC - Mechanical Engineering, 2015, Case Western Reserve University School of Graduate Studies

URL: http://rave.ohiolink.edu/etdc/view?acc_num=case1427889195

► This thesis presents two social robotic platforms, Philos V.1 and Philos V.2, which are designed for personalized human-robot interaction (HRI). Personalized HRI is realized through… (more)

Subjects/Keywords: Mechanical Engineering; Robotics; Robots; Social robots; human-robot interaction; wearable sensor

…x29; of the robots. In addition, a wearable sensor device was developed for integration with… …33 3.1 Wearable health sensor with and without cover . . . . . . . . . . . . 38 3.2… …Circuit diagram of wearable health sensor . . . . . . . . . . . . . . . 41 3.3 CAD… …43 3.4 GUI of wearable health sensor . . . . . . . . . . . . . . . . . . . . . . 48 4.1… …these social robots to further improve the health monitoring and assessment functions of the…

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Puehn, C. G. (2015). Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction. (Masters Thesis). Case Western Reserve University School of Graduate Studies. Retrieved from http://rave.ohiolink.edu/etdc/view?acc_num=case1427889195

Chicago Manual of Style (16^th Edition):

Puehn, Christian G. “Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction.” 2015. Masters Thesis, Case Western Reserve University School of Graduate Studies. Accessed April 16, 2021. http://rave.ohiolink.edu/etdc/view?acc_num=case1427889195.

MLA Handbook (7^th Edition):

Puehn, Christian G. “Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction.” 2015. Web. 16 Apr 2021.

Vancouver:

Puehn CG. Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction. [Internet] [Masters thesis]. Case Western Reserve University School of Graduate Studies; 2015. [cited 2021 Apr 16]. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1427889195.

Council of Science Editors:

Puehn CG. Development of a Low-Cost Social Robot for Personalized Human-Robot Interaction. [Masters Thesis]. Case Western Reserve University School of Graduate Studies; 2015. Available from: http://rave.ohiolink.edu/etdc/view?acc_num=case1427889195

ETH Zürich

6. Mazilu, Sînziana-Petronela. Wearable Systems and Methods for Treatment of Freezing of Gait in Parkinson’s Disease.

Degree: 2015, ETH Zürich

URL: http://hdl.handle.net/20.500.11850/113111

Subjects/Keywords: WEARABLE COMPUTERS (COMPUTER SYSTEMS); PARKINSON'S DISEASE (NEUROPATHOLOGY); REHABILITATION ROBOTS (MEDICAL ENGINEERING); PHYSIOLOGY OF MOVEMENT AND BIOMECHANICS; REHABILITATIONSROBOTER (MEDIZINISCHE TECHNIK); GANGANALYSE (DIAGNOSTIK, BIOMECHANIK); BEWEGUNGSPHYSIOLOGIE UND BIOMECHANIK DER BEWEGUNG; GAIT ANALYSIS (DIAGNOSTICS, BIOMECHANICS); WEARABLE COMPUTERS (COMPUTERSYSTEME); PARKINSON-KRANKHEIT (NEUROPATHOLOGIE); info:eu-repo/classification/ddc/610; Medical sciences, medicine

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APA · Chicago · MLA · Vancouver · CSE | Export to Zotero / EndNote / Reference Manager

APA (6^th Edition):

Mazilu, S. (2015). Wearable Systems and Methods for Treatment of Freezing of Gait in Parkinson’s Disease. (Doctoral Dissertation). ETH Zürich. Retrieved from http://hdl.handle.net/20.500.11850/113111

Chicago Manual of Style (16^th Edition):

Mazilu, Sînziana-Petronela. “Wearable Systems and Methods for Treatment of Freezing of Gait in Parkinson’s Disease.” 2015. Doctoral Dissertation, ETH Zürich. Accessed April 16, 2021. http://hdl.handle.net/20.500.11850/113111.

MLA Handbook (7^th Edition):

Mazilu, Sînziana-Petronela. “Wearable Systems and Methods for Treatment of Freezing of Gait in Parkinson’s Disease.” 2015. Web. 16 Apr 2021.

Vancouver:

Mazilu S. Wearable Systems and Methods for Treatment of Freezing of Gait in Parkinson’s Disease. [Internet] [Doctoral dissertation]. ETH Zürich; 2015. [cited 2021 Apr 16]. Available from: http://hdl.handle.net/20.500.11850/113111.

Council of Science Editors:

Mazilu S. Wearable Systems and Methods for Treatment of Freezing of Gait in Parkinson’s Disease. [Doctoral Dissertation]. ETH Zürich; 2015. Available from: http://hdl.handle.net/20.500.11850/113111

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