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Background and Objective: Many recent studies in virtual reality (VR) have managed the sense of Presence to assess the suitability of their designs, mainly when focused on learning goals that require high user engagement, such as in serious games for psychomotor training. However, the place and plausibility illusions needed to promote Presence are achieved by combining different VR-based design cues, and their individual contribution to preserving the Presence's engagement/involvement component is still unclear. This article explored the single effect of breaking the sense of Presence per VR factor, i.e., removing VR cues related to Social Presence (human interactions), Self-Presence (embodiment), and Physical Presence (Scenario realism)., Methods: Thirty-three participants were asked to play an immersive VR simulation of an arcade game three times by experiencing a stepped Break of Illusion in one of the VR factors, i.e., while two factors were kept high, the remaining one was reduced to a low and null (hypothetical) level. The game difficulty was fixed after assessing each person's skills., Results: Results showed that psychophysiology indicators (heart rate and skin conductance) were not affected by the level of illusion, whereas exercise intensity was significantly higher with low body and social presence-based conditions. Moreover, skin conductance was lower in the Social-presence group, which suggests that perspiration is only affected by breaks in realism (scenario and body representations). Based on the obtained evidence, we proposed some guidelines for adapting the design of immersive virtual environments through Breaks in Presence, mainly by changing the realism of the scenario and body representation depending on the skin conductance or the interaction with virtual humans depending on exercise intensity., Competing Interests: Declaration of Competing Interest The authors certify that they have NO affiliations with or involvement in any organization or entity with any financial interest (such as honoraria; educational grants; participation in speakers' bureaus; membership, employment, consultancies, stock ownership, or other equity interest; and expert testimony or patent-licensing arrangements), or non-financial interest (such as personal or professional relationships, affiliations, knowledge or beliefs) in the subject matter or materials discussed in this manuscript., (Copyright © 2024 The Author(s). Published by Elsevier B.V. All rights reserved.)

Background: Optic flow-the apparent visual motion experienced while moving-is absent during treadmill walking. With virtual reality (VR), optic flow can be controlled to mediate alterations in human walking. The aim of this study was to investigate (1) the effects of fully immersive VR and optic flow speed manipulation on gait biomechanics, simulator sickness, and enjoyment in people post-stroke and healthy people, and (2) the effects of the level of immersion on optic flow speed and sense of presence., Methods: Sixteen people post-stroke and 16 healthy controls performed two VR-enhanced treadmill walking sessions: the semi-immersive GRAIL session and fully immersive head-mounted display (HMD) session. Both consisted of five walking trials. After two habituation trials (without and with VR), participants walked three more trials under the following conditions: matched, slow, and fast optic flow. Primary outcome measures were spatiotemporal parameters and lower limb kinematics. Secondary outcomes (simulator sickness, enjoyment, and sense of presence) were assessed with the Simulator Sickness Questionnaire, Visual Analogue Scales, and Igroup Presence Questionnaire., Results: When walking with the immersive HMD, the stroke group walked with a significantly slower cadence (-3.69strides/min, p = 0.006), longer stride time (+ 0.10 s, p = 0.017) and stance time for the unaffected leg (+ 1.47%, p = 0.001) and reduced swing time for the unaffected leg (- 1.47%, p = 0.001). Both groups responded to the optic flow speed manipulation such that people accelerated with a slow optic flow and decelerated with a fast optic flow. Compared to the semi-immersive GRAIL session, manipulating the optic flow speed with the fully immersive HMD had a greater effect on gait biomechanics whilst also eliciting a higher sense of presence., Conclusion: Adding fully immersive VR while walking on a self-paced treadmill led to a more cautious gait pattern in people post-stroke. However, walking with the HMD was well tolerated and enjoyable. People post-stroke altered their gait parameters when optic flow speed was manipulated and showed greater alterations with the fully-immersive HMD. Further work is needed to determine the most effective type of optic flow speed manipulation as well as which other principles need to be implemented to positively influence the gait pattern of people post-stroke., Trial Registration Number: The study was pre-registered at ClinicalTrials.gov (NCT04521829)., (© 2023. BioMed Central Ltd., part of Springer Nature.)

Evaluating human-exoskeleton interaction typically requires experiments with human subjects, which raises safety issues and entails time-consuming testing procedures. This paper presents a mechatronic replica of a human leg, which was designed to quantify physical interaction dynamics between exoskeletons and human limbs without the need for human testing. In the first part of this work, we present the mechanical, electronic, sensory system and software solutions integrated in our leg replica prototype. In the second part, we used the leg replica to test its interaction with two types of commercially available wearable devices, i.e. an active full leg exoskeleton and a passive knee orthosis. We ran basic test examples to demonstrate the functioning and benchmarking potential of the leg replica to assess the effects of joint misalignments on force transmission. The integrated force sensors embedded in the leg replica detected higher interaction forces in the misaligned scenario in comparison to the aligned one, in both active and passive modalities. The small standard deviation of force measurements across cycles demonstrates the potential of the leg replica as a standard test method for reproducible studies of human-exoskeleton physical interaction., (Creative Commons Attribution license.)

Background: Despite the potential of occupational passive shoulder exoskeletons (PSEs) to relieve overhead work, limited insights in overhead work precision performance impedes large-scale adoption in industry., Objective: To investigate the effect of PSE support on the reduction in task performance caused by physical fatigue., Methods: This experiment consisted of a randomized, counterbalanced cross-over design comparing Exo4Work PSE support and no support, in a physically fatigued state and a control condition. Precision performance was determined using execution speed and drilling errors. Muscle activity and shoulder joint kinematics were recorded., Results: Fatigue altered task performance, shoulder joint kinematics, muscle activity and subjective experience during overhead work. The PSE support mitigated the fatigue-induced changes in shoulder kinematics. Additionally, a part of the fatigue-induced co-activation of shoulder stabilizing muscles was avoided when working with the PSE. The PSE support also reduced the activity of the anterior and medial deltoid., Conclusion: Physical fatigue provokes compensatory movements and increased co-contraction of muscles when executing overhead work. These fatigue-induced alterations are generally believed to increase the overall musculoskeletal load. The support provided by the PSE reduced muscle activity of muscles working to elevate the arm, but also partially mitigated those fatigue-induced effects., Significance: This study shows that the effect of PSE support on precision performance is limited, and suggested that, apart from the known effects of PSE support during overhead work, wearing the exoskeleton in a physically fatigued state may provide additional advantages., Competing Interests: Declaration of competing interest The authors declare the following financial interests/personal relationships which may be considered as potential competing interests: Sander De Bock, Marco Rossini, Dirk Lefeber, Carlos Rodriguez-Guerrero, Joost Geeroms, Romain Meeusen and Kevin De Pauw were involved in the Exo4Work project of the Research Foundation - Flanders (FWO)(S000118N SBO), where the Exo4Work exoskeleton was developed., (Copyright © 2022 The Authors. Published by Elsevier Ltd.. All rights reserved.)

Objective: This paper assesses the effect of a passive shoulder exoskeleton prototype, Exo4Work, on muscle activity, muscle fatigue and subjective experience during simulated occupational overhead and non-overhead work., Methods: Twenty-two healthy males performed six simulated industrial tasks with and without Exo4Work exoskeleton in a randomized counterbalanced cross-over design. During these tasks electromyography, heart rate, metabolic cost, subjective parameters and performance parameters were acquired. The effect of the exoskeleton and the body side on these parameters was investigated., Results: Anterior deltoid activity and fatigue reduced up to 16% and 41%, respectively, during isometric overhead work, and minimized hindrance of the device during non-overhead tasks. Wearing the exoskeleton increased feelings of frustration and increased discomfort in the areas where the exoskeleton and the body interfaced. The assistive effect of the exoskeleton was less prominent during dynamic tasks., Conclusion: This exoskeleton may reduce muscle activity and delay development of muscle fatigue in an overhead working scenario. For dynamic applications, the exoskeleton's assistive profile, which mimics the gravitational torque of the arm, is potentially sub-optimal., Significance: This evaluation paper is the first to report reduced muscle fatigue and activity when working with an occupational shoulder exoskeleton providing one third of the gravitational torque of the arm during overhead work. These results stress the potential of occupational shoulder exoskeletons in overhead working situations and may direct towards longitudinal field experiments. Additionally, this experiment may stimulate future work to further investigate the effect of different assistive profiles.

Introduction: Excessive physical shoulder musculoskeletal loading (muscle and joint contact forces), known to contribute to work-related shoulder disorders, can be reduced by a passive shoulder exoskeleton during quasi-static tasks. However, its effect on neighboring joints i.e. elbow, lower back, hip, and knee and its effect on joint contact forces have not been investigated. Furthermore, the effect of the exoskeleton's assistance versus movement adaptation when wearing the exoskeleton on musculoskeletal loading remains unexplored., Methods: 3D motion capture and ground reaction forces were measured while 16 participants performed 5 simulated occupational tasks with and without the exoskeleton. A musculoskeletal modeling workflow was used to calculate musculoskeletal loading. Shoulder muscle fatigue was quantified using surface EMG. In addition, exoskeletons usability was quantified using the system usability scale., Results: When wearing the passive shoulder exoskeleton, shoulder and elbow musculoskeletal loading decreased during the high lift and overhead wiring task, without increasing the musculoskeletal load at the back, hip and knee. In contrast, musculoskeletal loading in the shoulder, as well as in the knee increased while lifting a box from the ground to knee height and from elbow height to shoulder height. When wearing the exoskeleton, muscle activity of the Trapezius descendens, Deltoideus medius and Biceps brachii were reduced during the high lift., Conclusion: The passive shoulder exoskeleton reduces musculoskeletal loading in the lower back, shoulder and elbow during simulated occupational tasks above shoulder height. In contrast, for tasks below shoulder height, the use of the exoskeleton needs to be critically reviewed to avoid increased musculoskeletal loading also in neighboring joints due to altered movement execution when wearing the exoskeleton., (Copyright © 2022 The Authors. Published by Elsevier Ltd.. All rights reserved.)

Objective: This paper aims to analyse the human musculoskeletal and energetic adaptation mechanisms when physically interacting with a unilateral knee orthosis during treadmill walking., Methods: Test subjects participated in two walking trials, whereby the orthosis was controlled to deliver five predefined torque profiles of different duration (as % of a gait cycle). The adaptations to assistive torques of different duration were analysed in terms of gait parameters, metabolic effort, and muscle activity., Results: Orthotic assistance's kinematic effects remain local to the assisted leg and joint, unlike the muscles spanning the knee joint, which engage in a balancing-out action to retain stability. Duration of assistive torque significantly affects only the timing of the knee joint's peak flexion angle in the stance phase, while the observed joint kinematics and muscle activity demonstrate different recovery times upon changing robotic support (washout effects)., Conclusion: Human body adaptations to external robotic knee joint assistance during walking take place on multiple levels and to a different extent in a joint effort to keep the gait stable., Significance: This paper provides important insights into the human body's multiple adaptation mechanisms in the presence of external robotic assistance.

Objectives: To provide an overview of protocols assessing the effect of occupational exoskeletons on users and to formulate recommendations towards a literature-based assessment framework to benchmark the effect of occupational exoskeletons on the user., Methods: PubMed (MEDLINE), Web of Science database and Scopus were searched (March 2, 2021). Studies were included if they investigated the effect of one or more occupational exoskeletons on the user., Results: In total, 139 eligible studies were identified, encompassing 33, 25 and 18 unique back, shoulder and other exoskeletons, respectively. Device validation was most frequently conducted using controlled tasks while collecting muscle activity and biomechanical data. As the exoskeleton concept matures, tasks became more applied and the experimental design more representative. With that change towards realistic testing environments came a trade-off with experimental control, and user experience data became more valuable., Discussion: This evidence mapping systematic review reveals that the assessment of occupational exoskeletons is a dynamic process, and provides literature-based assessment recommendations. The homogeneity and repeatability of future exoskeleton assessment experiments will increase following these recommendations. The current review recognises the value of variability in evaluation protocols in order to obtain an overall overview of the effect of exoskeletons on the users, but the presented framework strives to facilitate benchmarking the effect of occupational exoskeletons on the users across this variety of assessment protocols., (Copyright © 2021 The Author(s). Published by Elsevier Ltd.. All rights reserved.)

Human motion intention detection is an essential part of the control of upper-body exoskeletons. While surface electromyography (sEMG)-based systems may be able to provide anticipatory control, they typically require exact placement of the electrodes on the muscle bodies which limits the practical use and donning of the technology. In this study, we propose a novel physical interface for exoskeletons with integrated sEMG- and pressure sensors. The sensors are 3D-printed with flexible, conductive materials and allow multi-modal information to be obtained during operation. A K-Nearest Neighbours classifier is implemented in an off-line manner to detect reaching movements and lifting tasks that represent daily activities of industrial workers. The performance of the classifier is validated through repeated experiments and compared to a unimodal EMG-based classifier. The results indicate that excellent prediction performance can be obtained, even with a minimal amount of sEMG electrodes and without specific placement of the electrode., Competing Interests: The authors declare that the research was conducted in the absence of any commercial or financial relationships that could be construed as a potential conflict of interest., (Copyright © 2021 Langlois, Geeroms, Van De Velde, Rodriguez-Guerrero, Verstraten, Vanderborght and Lefeber.)

The large-scale adoption of occupational exoskeletons (OEs) will only happen if clear evidence of effectiveness of the devices is available. Performing product-specific field validation studies would allow the stakeholders and decision-makers (e.g., employers, ergonomists, health, and safety departments) to assess OEs' effectiveness in their specific work contexts and with experienced workers, who could further provide useful insights on practical issues related to exoskeleton daily use. This paper reviews present-day scientific methods for assessing the effectiveness of OEs in laboratory and field studies, and presents the vision of the authors on a roadmap that could lead to large-scale adoption of this technology. The analysis of the state-of-the-art shows methodological differences between laboratory and field studies. While the former are more extensively reported in scientific papers, they exhibit limited generalizability of the findings to real-world scenarios. On the contrary, field studies are limited in sample sizes and frequently focused only on subjective metrics. We propose a roadmap to promote large-scale knowledge-based adoption of OEs. It details that the analysis of the costs and benefits of this technology should be communicated to all stakeholders to facilitate informed decision making, so that each stakeholder can develop their specific role regarding this innovation. Large-scale field studies can help identify and monitor the possible side-effects related to exoskeleton use in real work situations, as well as provide a comprehensive scientific knowledge base to support the revision of ergonomics risk-assessment methods, safety standards and regulations, and the definition of guidelines and practices for the selection and use of OEs., Competing Interests: S.C. and N.V. have interests in IUVO S.r.l., a spin-off company of Scuola Superiore Sant’Anna, which develops wearable robots. The remaining authors declare no competing interests exist., (© The Author(s) 2021.)

Wearable robots (WRs) are increasingly moving out of the labs toward real-world applications. In order for WRs to be effectively and widely adopted by end-users, a common benchmarking framework needs to be established. In this article, we outline the perspectives that in our opinion are the main determinants of this endeavor, and exemplify the complex landscape into three areas. The first perspective is related to quantifying the technical performance of the device and the physical impact of the device on the user. The second one refers to the understanding of the user's perceptual, emotional, and cognitive experience of (and with) the technology. The third one proposes a strategic path for a global benchmarking methodology, composed by reproducible experimental procedures representing real-life conditions. We hope that this paper can enable developers, researchers, clinicians and end-users to efficiently identify the most promising directions for validating their technology and drive future research efforts in the short and medium term., (Copyright © 2020 Torricelli, Rodriguez-Guerrero, Veneman, Crea, Briem, Lenggenhager and Beckerle.)

Background: In the last decades, several powered ankle-foot orthoses have been developed to assist the ankle joint of their users during walking. Recent studies have shown that the effects of the assistance provided by powered ankle-foot orthoses depend on the assistive profile. In compliant actuators, the stiffness level influences the actuator's performance. However, the effects of this parameter on the users has not been yet evaluated. The goal of this study is to assess the effects of the assistance provided by a variable stiffness ankle actuator on healthy young users. More specifically, the effect of different onset times of the push-off torque and different actuator's stiffness levels has been investigated., Methods: Eight healthy subjects walked with a unilateral powered ankle-foot orthosis in several assisted walking trials. The powered orthosis was actuated in the sagittal plane by a variable stiffness actuator. During the assisted walking trials, three different onset times of the push-off assistance and three different actuator's stiffness levels were used. The metabolic cost of walking, lower limb muscles activation, joint kinematics, and gait parameters measured during different assisted walking trials were compared to the ones measured during normal walking and walking with the powered orthosis not providing assistance., Results: This study found trends for more compliant settings of the ankle actuator resulting in bigger reductions of the metabolic cost of walking and soleus muscle activation in the stance phase during assisted walking as compared to the unassisted walking trial. In addition to this, the study found that, among the tested onset times, the earlier ones showed a trend for bigger reductions of the activation of the soleus muscle during stance, while the later ones led to a bigger reduction in the metabolic cost of walking in the assisted walking trials as compared to the unassisted condition., Conclusions: This study presents a first attempt to show that, together with the assistive torque profile, also the stiffness level of a compliant ankle actuator can influence the assistive performance of a powered ankle-foot orthosis.

There is a growing body of literature that recognizes the importance of Skin Conductance (SC) for assessing changes in emotional states, such as engagement to learning tasks, and its importance to estimate possible drawbacks affecting overall performance. To date, most of the commonly used methods for SC signal analysis, i.e. detecting its phasic and tonic components and thus extracting informative features, are either too simple and unreliable or too complex and thus inaccessible and inflexible, as well as unable to perform online analyses. The current work proposes a simplified but clear and effective algorithm based on a Machine State to search for expected behaviors in the well-defined morphology of the signal. Eleven (11) features were correctly extracted from 79 healthy subjects during an experimental setup for immersive virtual rehabilitation (balance study case). The method was also successfully applied as a tool to identify significant changes in the subjective psychophysiological response to different experimental conditions. These results point toward a potential role in virtual rehabilitation applications by getting real-time feedback in human-in-the-loop approaches.

The number one cause of disability in the world is low-back pain, with mechanical loading as one of the major risk factors. To reduce mechanical loading, exoskeletons have been introduced in the workplace. Substantial reductions in back muscle activity were found when using the exoskeleton during static bending and manual materials handling. However, most exoskeletons only have one joint at hip level, resulting in loss of range of motion and shifting of the exoskeleton relative to the body. To address these issues, a new exoskeleton design has been developed and tested. The present study investigated the effect of the SPEXOR passive exoskeleton on compression forces, moments, muscle activity and kinematics during static bending at six hand heights and during lifting of a box of 10 kg from around ankle height using three techniques: Free, Squat and Stoop. For static bending, the exoskeleton reduced the compression force by 13-21% depending on bending angle. Another effect of the exoskeleton was that participants substantially reduced lumbar flexion. While lifting, the exoskeleton reduced the peak compression force, on average, by 14%. Lifting technique did not modify the effect of the exoskeleton such that the reduction in compression force was similar. In conclusion, substantial reductions in compression forces were found as a result of the support generated by the exoskeleton and changes in behavior when wearing the exoskeleton. For static bending, lumbar flexion was reduced with the exoskeleton, indicating reduced passive tissue strain. In addition, the reduced peak compression force could reduce the risk of compression induced tissue failure during lifting., Competing Interests: Declaration of Competing Interest The authors declare that they have no known competing financial interests or personal relationships that could have appeared to influence the work reported in this paper., (Copyright © 2020 The Authors. Published by Elsevier Ltd.. All rights reserved.)

Serious games and immersive virtual reality promote emotional engagement during learning tasks, mostly by providing (1) skill-adapted challenges with performance feedback (for trial and error learning) and (2) enhanced presence (further reactions to multimodal stimuli), respectively. However, it is still unclear how each of these two strategies independently influence emotional states to engage subjects to a task. This study assessed the dimensions of emotion (valence-arousal-dominance) of 87 healthy subjects in a virtual game, assigned to 2 groups that were exposed to a different set of 5 trials: Group A experienced game variations by virtual factors affecting user's presence, whereas group B experienced levels of difficulty, affecting challenge. Emotional reports and 26 features extracted from physiological signals were statistically analyzed. Results showed that presence-based experimental conditions were able to modify the sense of arousal, whereas valence and dominance responded to challenge variation, i.e. were positively correlated with game score. Arousal is likely to increase with low sense of coexistence (social presence) and decrease with low scenario realism (physical presence). Faster breathing and higher skin conductance (SC) were detected at high challenge, whereas heart rate variability and SC increased with higher arousal. The evidence from this study suggests that both strategies can be used to separately influence dimensions of emotion, pointing out the customization of presence-based factors as a promising method to adjust emotional engagement by impacting arousal. Further research should be undertaken to identify the independent effect of single presence factors on emotional states.

This study aimed to investigate: 1) the effect of optic flow speed manipulation on active participation during robot-assisted treadmill walking (RATW), 2) the influence of the type of virtual environment, and 3) the level of motion sickness and enjoyment. Twenty-eight healthy older adults were randomized in two groups: "stimulus rich" Park group (50% male, 61± 6 year) and "stimulus poor" Hallway group (43% male, 62± 5 year). Subjects walked in the Lokomat with immersive virtual reality (VR) with a matched, slow and fast optic flow speed, each lasting 7 minutes. Active participation was measured by continuously assessing the human-machine interaction torques at the hip and knee joints and muscle activity of the Vastus Medialis and Biceps Femoris. Motion sickness and enjoyment were assessed with the Simulator Sickness Questionnaire (SSQ) and Physical Activity Enjoyment Scale (PACES) respectively. In both groups optic flow speed manipulation in both directions led to a decrease in bilateral hip interaction torques towards flexion at the end of the stance phase compared to matched speed. In the Hallway group, walking with slow optic flow elicited 32% more muscle activity of the Vastus Medialis. There were no significant differences between both groups for the SSQ and PACES. Optic flow speed manipulation appears to have only a small effect on the active participation of healthy people during RATW. The type of virtual environment did not affect their activity, motion sickness or enjoyment. However, the addition of immersive VR during RATW was well tolerated and enjoyable. Further research with patients is necessary.

In the last two decades, numerous powered ankle-foot orthoses have been developed. Despite similar designs and control strategies being shared by some of these devices, their performance in terms of achieving a comparable goal varies. It has been shown that the effect of powered ankle-foot orthoses on healthy users is altered by some factors of the testing protocol. This paper provides an overview of the effect of powered walking on healthy and weakened users. It identifies a set of key factors influencing the performance of powered ankle-foot orthoses, and it presents the effects of these factors on healthy subjects, highlighting the similarities and differences of the results obtained in different works. Furthermore, the outcomes of studies performed on elderly and impaired subjects walking with powered ankle-foot orthoses are compared, to outline the effects of powered walking on these users. This article shows that several factors mutually influence the performance of powered ankle-foot orthoses on their users and, for this reason, the determination of their effects on the user is not straightforward. One of the key factors is the adaptation of users to provided assistance. This factor is very important for the assessment of the effects of powered ankle-foot orthoses on users, however, it is not always reported by studies. Moreover, future works should report, together with the results, the list of influencing factors used in the protocol, to facilitate the comparison of the obtained results. This article also underlines the need for a standardized method to benchmark the actuators of powered ankle-foot orthoses, which would ease the comparison of results between the performed studies. In this paper, the lack of studies on elderly and impaired subjects is highlighted. The insufficiency of these studies makes it difficult to assess the effects of powered ankle-foot orthoses on these users.To summarize, this article provides a detailed overview of the work performed on powered ankle-foot orthoses, presenting and analyzing the results obtained, but also emphasizing topics on which more research is still required.

Cable-based actuation systems are preferred in rehabilitation robotics due to their adequate force transmission and the possibility of safely locating the motors away from the patient. In such applications, the cable dynamics represents the prescribing component for the system operating loads and control. A good understanding of the actuation, based on cable-conduit transmission, is therefore becoming mandatory. There are several types of cable-conduit configurations used for the actuation. Currently, there is lack of information in literature with regard to the push-pull cable type. Therefore, the main focus of this contribution is to evaluate push-pull cable-based actuation used within wearable robotic devices. This study includes working principle description of push-pull cable actuation with its characteristic advantages and drawbacks. The use of push-pull cables in bidirectional force transfer with remote actuation is investigated being integrated in a test-stand setup of a novel gait rehabilitation device. The experimental results and close analysis of the push-pull cable-based actuation system outline its performance, the overall dynamic behavior and the transmission efficiency of push-pull cables used for powered orthoses., (Copyright © 2018 Grosu, Rodriguez–Guerrero, Grosu, Vanderborght and Lefeber.)

In the EU, lower back pain affects more than 40% of the working population. Mechanical loading of the lower back has been shown to be an important risk factor. Peak mechanical load can be reduced by ergonomic interventions, the use of cranes and, more recently, by the use of exoskeletons. Despite recent advances in the development of exoskeletons for industrial applications, they are not widely adopted by industry yet. Some of the challenges, which have to be overcome are a reduced range of motion, misalignment between the human anatomy and kinematics of the exoskeleton as well as discomfort. A body of research exists on how an exoskeleton can be designed to compensate for misalignment and thereby improve comfort. However, how to design an exoskeleton that achieves a similar range of motion as a human lumbar spine of up to 60° in the sagittal plane, has not been extensively investigated. We addressed this need by developing and testing a novel passive back support exoskeleton, including a mechanism comprised of flexible beams, which run in parallel to the spine, providing a large range of motion and lowering the peak torque requirements around the lumbo-sacral (L5/S1) joint. Furthermore, we ran a pilot study to test the biomechanical ( N = 2) and functional ( N = 3) impact on subjects while wearing the exoskeleton. The biomechanical testing was once performed with flexible beams as a back interface and once with a rigid structure. An increase of more than 25% range of motion of the trunk in the sagittal plane was observed by using the flexible beams. The pilot functional tests, which are compared to results from a previous study with the Laevo device, suggest, that the novel exoskeleton is perceived as less hindering in almost all tested tasks., (Copyright © 2018 Näf, Koopman, Baltrusch, Rodriguez-Guerrero, Vanderborght and Lefeber.)

Despite the increased interest in exoskeleton research in the last decades, not much progress has been made on the successful reduction of user effort. In humans, biarticular elements have been identified as one of the reasons for the energy economy of locomotion. This document gives an extensive literature overview concerning the function of biarticular muscles in human beings. The exact role of these muscles in the efficiency of human locomotion is reduced to three elementary functions: energy transfer towards distal joints, efficient control of output force direction and double joint actuation. This information is used to give an insight in the application of biarticular elements in bio-inspired robotics, i.e. bipedal robots, exoskeletons, robotic manipulators and prostheses. Additionally, an attempt is made to find an answer on the question whether the biarticular property leads to a unique contribution to energy efficiency of locomotion, unachievable by mono-articular alternatives. This knowledge is then further utilised to indicate how biarticular actuation of exoskeletons can contribute to an increased performance in reducing user effort.

Human-robot interaction sensing is a compulsory feature in modern robotic systems where direct contact or close collaboration is desired. Rehabilitation and assistive robotics are fields where interaction forces are required for both safety and increased control performance of the device with a more comfortable experience for the user. In order to provide an efficient interaction feedback between the user and rehabilitation device, high performance sensing units are demanded. This work introduces a novel design of a multi-axis force sensor dedicated for measuring pelvis interaction forces in a rehabilitation exoskeleton device. The sensor is conceived such that it has different sensitivity characteristics for the three axes of interest having also movable parts in order to allow free rotations and limit crosstalk errors. Integrated sensor electronics make it easy to acquire and process data for a real-time distributed system architecture. Two of the developed sensors are integrated and tested in a complex gait rehabilitation device for safe and compliant control.

In order to harmonize robotic devices with human beings, the robots should be able to perceive important psychosomatic impact triggered by emotional states such as frustration or boredom. This paper presents a new type of biocooperative control architecture, which acts toward improving the challenge/skill relation perceived by the user when interacting with a robotic multimodal interface in a cooperative scenario. In the first part of the paper, open-loop experiments revealed which physiological signals were optimal for inclusion in the feedback loop. These were heart rate, skin conductance level, and skin conductance response frequency. In the second part of the paper, the proposed controller, consisting of a biocooperative architecture with two degrees of freedom, simultaneously modulating game difficulty and haptic assistance through performance and psychophysiological feedback, is presented. With this setup, the perceived challenge can be modulated by means of the game difficulty and the perceived skill by means of the haptic assistance. A new metric ( FlowIndex ) is proposed to numerically quantify and visualize the challenge/skill relation. The results are contrasted with comparable previously published work and show that the new method afforded a higher FlowIndex (i.e., a superior challenge/skill relation) and an improved balance between augmented performance and user satisfaction (higher level of valence, i.e., a more enjoyable and satisfactory experience).

Biocooperative augmented robots, can enhance rehabilitation therapies by giving the correct assistance at the correct time. Since different patients may benefit from different amounts of assistance or resistance at a given time, predicting when a person enters in an undesired psychophysiological state can provide an intelligent system with important information about when to initiate interaction. This paper presents a subject centered approach method that includes the human into the loop by using physiological feedback techniques. This allows the robot to adapt to several different patients and maintain the therapy as intensive as possible without compromising patients health or letting the individual get stressed which would result in a decay of the overall performance.