Assistive Robotics and low-cost exoskeletons

Assistive Robotics and low-cost exoskeletons

In our lab we are developing research on low-cost exoskeletons, devices capable of helping people with motor disabilities in everyday life.

This technology is aimed at patients suffering from muscle weakness (eg muscular dystrophy) and allows – through non-invasive electrodes – to collect the nerve signal and estimate the patient’s movement in anticipation.

Exoskeletons currently on the market have prohibitive costs to be adopted in the home environment. In order to to reduce costs, we are therefore working on:
• an elastic support that allows the application of small size and low cost motors;
• a flexible mechanical structure that allows to estimate the interaction forces through its own deformation.

FORECAST research is developed within the EUROBENCH European Project.

Forecast Project

Forecast Project

The first six months of the Forecast Project have been completed with a paper submission

 

The FORECAST project focuses on benchmarking force control algorithms for robotic locomotion applications such as exoskeletons and humanoids. As a result, tools will be developed to help robot designers choose the best force control algorithms and to define standardized metrics for their evaluation.

Submitted paper: “Actuation selection for assistive exoskeletons: matching capabilities to task requirements” by Andrea Calanca, Stefano Toxiri, Davide Costanzi, Enrico Sartori, Tommaso Poliero, Christian Di Natali, Darwin G. Caldwell, Paolo Fiorini, Jesús Ortiz as a regular paper to the IEEE Transactions on Neural Systems and Rehabilitation Engineering.

Actuator and Environment modelling
Physical testbench