Posts Tagged wearable exoskeleton

[NEWS] Wearable robots usher in next generation of mobility therapies|CORDIS|European Commission

Wearable robots that can anticipate and react to users’ movement in real time could dramatically improve mobility assistance and rehabilitation tools.

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Wearable robots are programmable body-worn devices, or exoskeletons, that are designed to mechanically interact with the user. Their purpose is to assist or even substitute human motor function for people who have severe difficulty moving or walking.

The BIOMOT project, completed in September 2016, has helped to advance this emerging field by demonstrating that personalised computational models of the human body can effectively be used to control wearable exoskeletons. The project has identified ways of achieving improved flexibility and autonomous performance, which could assist in the use of wearable robots as mobility assistance and rehabilitation tools.

‘An increasing number of researchers in the field of neurorehabilitation are interested in the potential of these robotic technologies for clinical rehabilitation following neurological diseases,’ explains BIOMOT project coordinator Dr. Juan Moreno from the Spanish Council for Scientific Research (CSIC). ‘One reason is that these systems can be optimised to deliver diverse therapeutic interventions at specific points of recuperation or care.’

However, a number of factors have limited the widespread market adoption of wearable robots. Moreno and his team identified a need for wearable equipment to be more compact and lightweight, and better able anticipate and detect the intended movements of the wearer. In addition, robots needed to become more versatile and adaptable in order to aid people in a variety of different situations; walking on uneven ground, for example, or approaching an obstacle.

In order to address these challenges, the project developed robots with real-time adaptability and flexibility by increasing the symbiosis between the robot and the user through dynamic sensorimotor interactions. A hierarchical approach to these interactions was taken, allowing the project team to apply different layers for different purposes. This means in effect that an exoskeleton can be personalised to an individual user.

‘Thanks to this framework, the BIOMOT exoskeleton can rely on mechanical and bioelectric measurements to adapt to a changing user or task condition,’ says Moreno. ‘This leads to improved robotic interventions.’

Following theoretical and practical work, the project team then tested these prototype exoskeletons with volunteers. A key technical challenge was how to combine a robust and open architecture with a novel wearable robotic system that can gather signals from human activity. ‘Nonetheless, we succeeded in investigating for the first time the potential of automatically controlling human-robot interactions in order to enhance user compliance to a motor task,’ says Moreno. ‘Our research with healthy humans showed such positive and promising results that we are keen to continue validation with both stroke and spinal cord injury patients.’

Indeed, Moreno is confident that the success of the project will open up potential new research avenues. For example, the results will help scientists to develop computational models for rehabilitation therapies, and better understand human movement in more detail.

‘In the project we also defined novel techniques to evaluate and benchmark performances of wearable exoskeletons,’ says Moreno. ‘Further innovation projects are planned by consortium members to follow up on this research, and to exploit developments in the field of human motion capture, human-machine interaction and adaptive control.’

For further information, please see:
project website

via Wearable robots usher in next generation of mobility therapies | News | CORDIS | European Commission

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[ARTICLE] Shaping neuroplasticity by using powered exoskeletons in patients with stroke: a randomized clinical trial – Full Text



The use of neurorobotic devices may improve gait recovery by entraining specific brain plasticity mechanisms, which may be a key issue for successful rehabilitation using such approach. We assessed whether the wearable exoskeleton, Ekso™, could get higher gait performance than conventional overground gait training (OGT) in patients with hemiparesis due to stroke in a chronic phase, and foster the recovery of specific brain plasticity mechanisms.


We enrolled forty patients in a prospective, pre-post, randomized clinical study. Twenty patients underwent Ekso™ gait training (EGT) (45-min/session, five times/week), in addition to overground gait therapy, whilst 20 patients practiced an OGT of the same duration. All individuals were evaluated about gait performance (10 m walking test), gait cycle, muscle activation pattern (by recording surface electromyography from lower limb muscles), frontoparietal effective connectivity (FPEC) by using EEG, cortico-spinal excitability (CSE), and sensory-motor integration (SMI) from both primary motor areas by using Transcranial Magnetic Stimulation paradigm before and after the gait training.


A significant effect size was found in the EGT-induced improvement in the 10 m walking test (d = 0.9, p < 0.001), CSE in the affected side (d = 0.7, p = 0.001), SMI in the affected side (d = 0.5, p = 0.03), overall gait quality (d = 0.8, p = 0.001), hip and knee muscle activation (d = 0.8, p = 0.001), and FPEC (d = 0.8, p = 0.001). The strengthening of FPEC (r = 0.601, p < 0.001), the increase of SMI in the affected side (r = 0.554, p < 0.001), and the decrease of SMI in the unaffected side (r = − 0.540, p < 0.001) were the most important factors correlated with the clinical improvement.


Ekso™ gait training seems promising in gait rehabilitation for post-stroke patients, besides OGT. Our study proposes a putative neurophysiological basis supporting Ekso™ after-effects. This knowledge may be useful to plan highly patient-tailored gait rehabilitation protocols.


Most of the patients with stroke experience a restriction of their mobility. Gait impairment after stroke mainly depends on deficits in functional ambulation capacity, balance, walking velocity, cadence, stride length, and muscle activation pattern, resulting in a longer gait cycle duration and lower than normal stance/swing ratio in the affected side, paralleled by a shorter gait cycle duration and a higher than normal stance/swing ratio in the unaffected side [1].

Conventional gait training often offers non-completely satisfactory results. Specifically, patients with stroke receiving intensive gait training with or without body weight support (BWS) may not improve in walking ability more than those who are not receiving the same treatment (with the exception of walking speed and endurance) [2345]. Moreover, only patients with stroke who are able to walk benefit most from such an intervention [2345]. Therefore, there is growing effort to increase the efficacy of gait rehabilitation for stroke patients by using advanced technical devices. Neurorobotic devices, including robotic-assisted gait training (RAGT) with BWS, result in a more likely achievement of independent walking when coupled with overground gait training (OGT) in patients with stroke. Specifically, RAGT combined with OGT has an additional beneficial effect on functional ambulation outcomes, although depending on the duration and intensity of RAGT [67]. Further, RAGT requires a more active subject participation in gait training as compared to the traditional OGT, which is a vital feature of gait rehabilitation [78].

Even though no substantial differences have been reported among the different types of RAGT devices [9], a main problem with neurorobotic devices is the provision for the patient of a real-world setting ambulation [1011]. To this end, wearable powered exoskeletons, e.g., the Ekso™ (Ekso™ Bionics, Richmond, CA, USA), have been designed to improve OGT in neurologic patients.

Notwithstanding, the efficacy of wearable powered exoskeletons in improving functional ambulation capacity (including gait pattern, step length, walking speed and endurance, balance and coordination) has not been definitively proven, and any further benefit in terms of gait performance remains to be confirmed. However, a recent study showed that Ekso™ could improve functional ambulation capacity in patients with sub-acute and chronic stroke [12]. Therefore, a first aim of our study was to assess whether Ekso™ is useful in improving functional ambulation capacity and gait performance in chronic post-stroke patients compared to conventional OGT.

The neurophysiologic mechanisms harnessed by powered exoskeletons to favor the recovery of functional ambulation capacity are still unclear. It is argued that the efficacy of neurorobotics in improving functional ambulation capacity depends on the high frequency and intensity of repetition of task-oriented movements [13]. This could guarantee a potentially stronger entrainment of the neuroplasticity mechanisms related to motor learning and function recovery following brain injury, including sensorimotor plasticity, frontoparietal effective connectivity (FPEC), and transcallosal inhibition, as compared to conventional therapy [141516]. Moreover, the generation and strengthening of new connections supporting the learned behaviors, and the steady recruitment of these neural connections as preferential to the learned behaviors occur through these mechanisms, thus making the re-learned abilities long lasting [131417181920212223].

Such neurophysiologic mechanisms have been tested in neurorobotic rehabilitation using stationary exoskeletons (e.g. Lokomat™) [1314]. Therefore, the second aim of our study was to assess whether there are specific neurophysiological mechanisms (among those related to sensorimotor plasticity, FPEC, and transcallosal inhibition) by which Ekso™ improves functional ambulation capacity in the chronic post-stroke phase. The importance of knowing these mechanisms is remarkable in order to implement patient-tailored rehabilitative training, given that any further advance in motor function recovery mainly relies on motor rehabilitation training, whereas spontaneous motor recovery occurs within 6 months of a stroke [24]. This is also the reason why we focused our study on patients with chronic stroke.[…}


Continue —> Shaping neuroplasticity by using powered exoskeletons in patients with stroke: a randomized clinical trial | Journal of NeuroEngineering and Rehabilitation | Full Text

Fig. 2 Ekso™ device

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[Abstract] Characterisation and evaluation of soft elastomeric actuators for hand assistive and rehabilitation applications – Journal of Medical Engineering & Technology



Various hand exoskeletons have been proposed for the purposes of providing assistance in activities of daily living and rehabilitation exercises. However, traditional exoskeletons are made of rigid components that impede the natural movement of joints and cause discomfort to the user.
This paper evaluated a soft wearable exoskeleton using soft elastomeric actuators. The actuators could generate the desired actuation of the finger joints with a simple design. The actuators were characterised in terms of their radius of curvature and force output during actuation. Additionally, the device was evaluated on five healthy subjects in terms of its assisted finger joint range of motion.
Results demonstrated that the subjects were able to perform the grasping actions with the assistance of the device and the range of motion of individual finger joints varied from subject to subject. This work evaluated the performance of a soft wearable exoskeleton and highlighted the importance of customisability of the device. It demonstrated the possibility of replacing traditional rigid exoskeletons with soft exoskeletons that are more wearable and customisable.

Source: Characterisation and evaluation of soft elastomeric actuators for hand assistive and rehabilitation applications – Journal of Medical Engineering & Technology –

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[WEB SITE] Hybrid walking exoskeleton research at Pitt receives NSF funding.


Outside of sci-fi, the idea of donning a bionic suit, rocketing into the sky, and saving the world hasn’t quite gotten off the ground; however, two new grants totaling $500,209 from the National Science Foundation will help researchers at the University of Pittsburgh make great strides in helping paraplegics walk while wearing a mechanical exoskeleton.

more: Hybrid walking exoskeleton research at Pitt receives NSF funding | EurekAlert! Science News


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