Emerging trends in upper-limb embedded devices: A qualitative research study

Framework This paper explores how a qualitative systematic literature review (SLR) can contribute to our understanding of the trends in upper-limb wearable devices. These devices are pieces of electronic equipment that can be worn as accessories, such as watches, or embedded in clothing, including gloves and sleeves, and could play an essential role in subjects' quality of life after any occurrence that affects their possibility to perform basic activities autonomously. Moreover, these devices can be used to improve manual performance tasks like surgical or precision tasks, and even more so when performed under extreme ambient temperature conditions. Goals and Methods: A SLR on upper-limb embedded devices was conducted based on scientific documents retrieved from the Scopus database. Two research questions were outlined: "How has this technology been evolving?" and "What is the trend according to the fields of application?". The combination of keywords (upper-limb* AND wearable* AND device*) was used in the title, abstract, and keywords fields. Results: A total of 555 documents were obtained. Descriptive statistical and bibliometric analyses were conducted, identifying trends, knowledge gaps, and the future direction of research. The free software VOSviewer was used to construct data visualization bibliometric maps of the co-authorship and co-citation network. A subset of 26 documents was considered for the critical qualitative synthesis. This step facilitated the visualization and exploration of the interconnectedness among authors and the citation patterns within the literature. Combining the information gathered enables addressing the extent and the emerging trends in upper-limb embedded devices' development according to the field they are applied. Final considerations: With this research, a starting point in developing a proof of concept of a novel device aimed at improving dexterity in challenging environments is established

A Novel Exoskeleton Prototype Based on the Use of IMUs to Track and Mimic Motion

This thesis presents the development of a person-portable exoskeleton prototype which is designed to be controlled with Inertial Measurement Units (IMUs). It utilizes Euler angles calculated by the IMUs to track the rotation of the user’s forearm and then performs the same rotation, mimicking the user. Special care is taken with the prototype’s control algorithm to ignore changes in Euler angles caused by non-forearm rotations, which can otherwise cause erroneous prototype movements. The prototype is successful in demonstrating this method of control but does require the user to follow some specific guidelines to work at maximum effectiveness. Future iterations of the prototype can be easily improved by replacing some of the commercially available materials with more specialized ad-hoc products

Upper limb soft robotic wearable devices: a systematic review

Introduction: Soft robotic wearable devices, referred to as exosuits, can be a valid alternative to rigid exoskeletons when it comes to daily upper limb support. Indeed, their inherent flexibility improves comfort, usability, and portability while not constraining the user’s natural degrees of freedom. This review is meant to guide the reader in understanding the current approaches across all design and production steps that might be exploited when developing an upper limb robotic exosuit. Methods: The literature research regarding such devices was conducted in PubMed, Scopus, and Web of Science. The investigated features are the intended scenario, type of actuation, supported degrees of freedom, low-level control, high-level control with a focus on intention detection, technology readiness level, and type of experiments conducted to evaluate the device. Results: A total of 105 articles were collected, describing 69 different devices. Devices were grouped according to their actuation type. More than 80% of devices are meant either for rehabilitation, assistance, or both. The most exploited actuation types are pneumatic (52%) and DC motors with cable transmission (29%). Most devices actuate 1 (56%) or 2 (28%) degrees of freedom, and the most targeted joints are the elbow and the shoulder. Intention detection strategies are implemented in 33% of the suits and include the use of switches and buttons, IMUs, stretch and bending sensors, EMG and EEG measurements. Most devices (75%) score a technology readiness level of 4 or 5. Conclusion: Although few devices can be considered ready to reach the market, exosuits show very high potential for the assistance of daily activities. Clinical trials exploiting shared evaluation metrics are needed to assess the effectiveness of upper limb exosuits on target users