This thesis presents an activity mode intent recognition approach for safe, robust and reliable control of powered backbone exoskeleton. The thesis presents the background and a concept for a powered backbone exoskeleton that would work in parallel with a user. The necessary prerequisites for the thesis are presented, including the collection and processing of surface electromyography signals and inertial sensor data to recognize the user’s activity. The development of activity mode intent recognizer was described based on decision tree classification in order to leverage its computational efficiency. The intent recognizer is a high-level supervisory controller that belongs to a three-level control structure for a powered backbone exoskeleton. The recognizer uses surface electromyography and inertial signals as the input and CART (classification and regression tree) as the classifier. The experimental results indicate that the recognizer can extract the user’s intent with minimal delay. The approach achieves a low recognition error rate and a user-unperceived latency by using sliding overlapped analysis window. The approach shows great potential for future implementation on a prototype backbone exoskeleton.

This paper is an explorative interaction design study focusing on the development of a wearable device for enhanced learning of bodily skills. It uses a variation of technology scouting and matchmaking to explore possible technologies related to assistive technology for learning. Semi-structured interviews were conducted with people in the concerned fields and analysis of the interviews resulted in insights that could inform the development of the design. Research findings suggest that a wearable learning system that leverages AI to guide and assist learning of bodily skills through a haptic interface could be possible with current technology. The paper proposes a schematic diagram of the system, UX goals and evaluates user attitudes towards such a system. Overall, this design study could serve as a resource for future development of AI-assisted education for activities involving bodily movement.

No description available.

Robotic arms and hands come in all shapes and sizes, they can be general purpose or task-specific. They can be pre-programed by a computer or controlled by a human operator. There is a certain subsection of robotic hands which try to mimic the shape, movement and function of the human hand, these are sometimes known as biomimetic robotics. This project explores the human robot interaction by creating an anthropomorphic robotic hand with an accompanying exoskeleton. The hand, which consists of a 3D-printed body and fingers, is connected to a forearm where the servos that control the fingers are housed. The exoskeleton connects to the operator's hand allowing finger tracking through a set of potentiometers. This setup allows the operator to intuitively control a robotic hand with a certain degree of precision. We set out to answer research questions in regard to the form and function of a biomimetic hand and the exoskeleton. Along the way, a multitude of problems were encountered such as budgetary issues resulting in only half the fingers having movement. Despite this, good results were gathered from the functioning fingers and our research questions were answered. / Robotarmar och händer finns många former och storlekar, de kan vara för allmänna ändamål eller uppgiftsspecifika. De kan programmeras av en dator eller styras av en mänsklig operatör. Det finns en viss typ av robothänder som försöker efterlikna formen, rörelsen och funktionen hos den mänskliga handen, och brukar kallas biomimetisk robotik. Detta projekt utforskar interaktionen mellan människa och robot genom att skapa en antropomorf robothand med tillhörande exoskelett. Handen, som består av en 3D-printad kropp och fingrar, är ansluten till en underarm där servormotorerna som styr fingrarna sitter. Exoskelettet ansluts till operatörens hand vilket möjliggör spårning av fingrarnas rörelse genom ett antal potentiometrar. Detta tillåter operatören att intuitivt styra en robothand med en viss grad av precision. Vi valde att besvara ett antal forskningsfrågor med avseende på form och funktion av en biomimetisk hand och exoskelettet. Under projektets gång påträffades en mängd problem såsom budgetproblem som resulterade i att bara hälften av fingrarna kan kontrolleras. Trots detta fick vi bra resultat från de fungerande fingrarna och våra forskningsfrågor kunde besvaras.

In this bachelor’s thesis, the development and construction of a soft exoskeleton for a human hand is described.The purpose of the project includes evaluating what type of exoskeleton that is most suitable for aiding the user inactivities of daily living and how this exoskeleton can be constructed in order to increase grip strength in the human hand. In addition, the prototype should be portable and not inflict any harm on the user. The necessary theoretical research is thoroughly conducted followed by the construction of the final prototype. The purpose of the project is achieved, resulting in a flexible, portable and safe exoskeleton which with satisfaction can aid the user in its activities of daily living. However, this prototype is limited to exclusively include the thumb and index finger, and in further work the prototype can be developed to include all five fingers of the human hand. / I detta kandidatexamensarbete behandlas utvecklingen och konstruktionen av ett mjukt exoskelett för den mänskliga handen. Syftet med projektet är att undersöka vilken typ av exoskelett som passar bäst för att hjälpa användaren med aktiviteter i det dagliga livet, samt hur detta exoskelett kan konstrueras för att förstärka greppet i handen. Prototypen ska även vara bärbar och inte skada användaren. Den nödvändiga teorin presenteras, följt av konstruktionen av den slutgiltiga prototypen. Syftet med projektet uppfylls och resulterar i ett flexibelt, portabelt och säkert exoskelett som kan hjälpa användaren med aktiviteter i det dagligalivet. Dock är denna prototyp begränsad till att endast inkludera styrning av tummen och pekfingret, och prototypenkan således i framtida arbeten utvecklas till att inkludera samtliga fem fingrar på den mänskliga handen.

Hand exoskeletons are wearable robotic devices which are used to compensate for impaired handmovements in patientswith impaired upper-limbs. These devices can either help patients to grasp objects for a therapeutic purpose or to performactivities of daily living. This Thesis describes the development of a novel hand exoskeleton, with a focus on the user, based on the product development methodology "the V-Model". Therefore, user needs are identified through interviews and a thorough literature review. Three potential concepts are developed and sub-sequential a concept is selected based on a logical decision process. A mathematical model of the selected concept is generated and then used for dimensioning the hand exoskeleton. Moreover, three variants of the hand exoskeleton are built as prototypes. Finally, the variants of the device are tested on a bench top. The result of the development process is a novel hand exoskeleton for the rehabilitation of upper motor neuron syndrome patients. Force and range of motion tests revealed, that a design with a higher level of underactuation is favourable. The design presented in this thesis does not reach the defined range of motion and force augmentation. However, the defined target values are the results of a conservative approach, thus are a challenge to reach. The augmented closing force and range of motion surpass other state of the art hand exoskeletons. Nevertheless, the augmented opening force under-performs in comparison with other designs. Decisively, a validation with users is needed for a usability assessment. / Exoskelett för händer är robotiska hjälpmedel som kan användas för att kompensera nedsatt muskelstyrka och rörlighet hos patienter med nedsatt muskelfunktion i armarna. Dessa hjälpmedel kan hjälpa patienter att greppa föremål i ett terapeutiskt syfte eller för att utföra vardagliga sysslor. Examensarbetet beskriver utvecklingsarbetet av ett nytt exoskelett med fokus på användaren genom att tillämpa produktutvecklingsmotodikens V-modell. Användarens krav och behov identifieras genom intervjuer och en gedigen litteraturstudie. Tre koncept utvecklas och ett vidareutvecklat koncept väljs slutligen baserat på en logisk beslutsprocess. En matematisk modell genereras och används för att dimensionera exoskelettet. Dessutom tillverkas tre prototyper av exoskelettet i olika utföranden för att slutligen utvärderas i en testrigg. Resultatet av utvecklingsprocessen är ett nytt handexoskelett ämnat för rehabilitering av patienter med övre motorneuronsjukdom. Tester som genomfördes för att mäta Kraft och rörlighet visade att en design med en högre grad av underaktuering är gynnsamt. Designen som presenteras här når inte upp till de krav som ställs på kraft och rörlighet, de målvärden som definieras är dock baserade på ett konservativt synsätt och är därmed svåra att uppnå. Exoskelettet producerar en högre stängningskraft och uppvisar bättre rörlighet än andra toppmoderna exoskelett. Exoskelettet underpresterar dock vad gäller den producerade öppningskraften jämfört med andra modeller och designen behöver valideras hos användarna för att användarbarheten ska kunna bestämmas.

Work-related musculoskeletal disorders (WMSDs) due to overexertion and consequently the low back pain (LBP) are one of the most prevalent sources of nonfatal occupational injuries and illnesses in all over the world. In the past several years, the industrial exoskeletons especially the passive ones have been proposed as alternative intervention and assistive devices, which are capable of reducing the risk of WMSDs and LBP. However, more research is warranted to validate the applicability of these exoskeletons. In addition, because the majority of previous studies have been limited to specific lifting tasks using only one type of lift assistive exoskeleton, more research is needed to examine the effect of alteration of different lift-assistive exoskeletons on reducing the activity of back muscles and metabolic reduction. The main objective of this dissertation is to render an overview of three studies that attempt to improve the literature by providing comprehensive biomechanical evaluations and metabolic assessments of three passive lift-assistive exoskeletons (VT-Lowe's Exoskeleton (developed in ARLab at VT), Laevo and SuitX). This dissertation has been composed of three related studies. The first study aimed to investigate and examine the capability of a novel lift assistive exoskeleton, VT-Lowe's exoskeleton, in reducing the peak and mean activity of back and leg muscles. Findings revealed that the exoskeleton significantly decreased the peak and mean activity of back muscles (IL(iliocostalis lumborum) and LT(longissimus thoracis)) by 31.5% and 29.3% respectively for symmetric lifts, and by 28.2% and 29.5% respectively for asymmetric lifts. Furthermore, the peak and mean EMG of leg muscles were significantly reduced by 19.1% and 14.1% during symmetric lifts, and 17.4% and 14.6% during asymmetric lifts. Interestingly, the VT-Lowe's exoskeleton showed higher reduction in activity of back and leg muscles compared to other passive lift-assistive exoskeletons available in the literatures. In the second study, the metabolic cost reduction associated with the use of VT-Lowe's exoskeleton during freestyle lifting was theoretically modelled, validated and corresponding metabolic savings were reported. The metabolic cost and the oxygen consumption results supported the hypothesis that the VT-Lowe's exoskeleton could significantly reduce the metabolic demands (~7.9% on average) and oxygen uptake (~8.7% on average) during freestyle lifting. Additionally, we presented a prediction model for the metabolic cost of exoskeleton during repetitive freestyle lifting tasks. The prediction models were very accurate as the absolute prediction errors were small for both 0% (< 1.4%) and 20% (< 0.7%) of body weight. In the third study, the biomechanical evaluation, energy expenditure and subjective assessments of two passive back-support exoskeletons (Laevo and SuitX) were examined in the context of repetitive lifting tasks. The experimental lifting tasks in this study were simulated in a laboratory environment for two different levels of lifting symmetry (symmetric vs. asymmetric) and lifting posture (standing vs. kneeling). Results of this study demonstrated that using both exoskeletons during dynamic lifting tasks could significantly lower the peak activity of trunk extensor muscles by ~10-28%. In addition, using both exoskeletons could save the energy expenditure by ~4-13% in all conditions tested by partially offsetting the weight of the torso. Such reductions were, though, task-dependent and differed between the two tested exoskeletons. Overall, the results of all three studies in this dissertation showed the capability of passive lift-assistive exoskeletons in reducing the activity of back and leg muscles and providing metabolic savings during repetitive lifting tasks. / Doctor of Philosophy / Low back pain (LBP) due to overexertion is known as one of the most important sources of nonfatal occupational injuries especially for the workers or manual material handlers who are involved in frequent or repetitive lifting tasks. Every year, many workers are temporarily or permanently disabled due to overuse injuries at workplace. In the past several years, industrial exoskeletons have gained growing interest among biomechanist, roboticist, and other human factor researchers as potential assistive devices to reduce the risk of LBP. In general, the industrial exoskeletons are either “passive or “active”; Active exoskeletons are powered by mechanical/electrical motors and actuators, however, the passive exoskeletons often work using cheaper devices such as gas or metal springs, elastic elements, etc. The exoskeletons discussed in this dissertation are categorized as passive rigid lower-back exoskeletons and they function by storing energy in a spring when the wearer bends and returning the stored energy when the wearer lifts. This dissertation consists of three studies that attempt to provide comprehensive biomechanical evaluations and metabolic assessments of three passive lift-assistive exoskeletons (i.e., VT-Lowe’s Exoskeleton, Laevo and SuitX). The first study examined the efficacy of a novel lift-assistive exoskeleton, VT-Lowe’s exoskeleton, in reducing the peak and mean activity of back and leg muscles. The results of this study demonstrated that the exoskeleton reduced the peak and mean activity of back and leg muscles for symmetric and asymmetric lifting tasks. VT-Lowe’s exoskeleton also showed higher reduction in activity of back muscles compared to other passive lift-assistive exoskeletons available in the literature. In the second study, the metabolic cost reduction with VT-Lowe’s exoskeleton was theoretically modeled and the modeling outcomes were compared to metabolic costs measurements when the exoskeleton was worn. The experimental findings of this study supported the applicability of the exoskeleton by significantly reducing the metabolic cost and oxygen uptake during the freestyle repetitive lifting tasks. Moreover, the prediction metabolic cost model of the exoskeleton showed high accuracy as the absolute prediction errors were within 1.5%. In the third study, the biomechanical evaluation, energy expenditure and subjective assessments of two passive back-support exoskeletons (Laevo and SuitX) were examined in repetitive lifting tasks. The lifting tasks of this study were simulated in a laboratory environment for two different levels of lifting symmetry (symmetric vs. asymmetric) and lifting posture (standing vs. kneeling). Findings of this study showed that both exoskeleton significantly lowered the peak activity of back muscles during the dynamic lifting tasks. Moreover, using both exoskeletons provided metabolic cost savings in all of the studies conditions. Overall, results obtained from the three studies in this dissertation verified the capability of these passive lift- vi assistive exoskeleton in reducing the activity of back and leg muscles and providing the metabolic savings during repetitive lifting tasks.

With the advancement of technology, innovative control measures have been introduced to mitigate the risk of work-related musculoskeletal disorders (WMSDs). Among these measures, wearable passive exoskeletons have emerged as promising solutions for addressing WMSDs. Previous studies have demonstrated the effectiveness of wearable passive exoskeletons for improving awkward postures and reducing muscle workload in tasks involving neck extension, limbs, and back. However, the effectiveness of newly developed industrial exoskeletons designed for neck flexion remains uncertain. This study aimed to evaluate the neck exoskeleton's effects on muscle activities and work postures, by comparing the working conditions of floor workers wearing and not wearing these devices. Six subjects were recruited for field measurements. Muscle activity of the neck extensors, as well as the forward inclination angle of the head and trunk, were assessed during the measurements. Data comparison between wearing and not wearing the neck flexion exoskeleton was conducted using the related samples Wilcoxon signed-rank test. Spearman’s rank correlation coefficient was utilized to analyze the correlation between different parameters while wearing the neck flexion exoskeleton. The results showed that compared to not wearing the exoskeleton, wearing the neck flexion exoskeleton significantly reduced muscular activity at the 10th percentile (p=0.028), 50th percentile (p=0.028), and 90th percentile (p=0.028). Wearing the neck flexion exoskeleton also reduced the 10th percentile (p=0.028) and 90th percentile (p=0.046) of the head angle, and the neck angle at the 50th percentile (p=0.028) and 90th percentile (p=0.028). Additionally, the trunk angle was significantly higher with the exoskeleton at the 50th percentile (p=0.046) and 90th percentile (p=0.027). The correlation analysis when wearing the exoskeleton revealed a negative correlation between neck angle and trunk angle at the 10th percentile (r=-0.829, p=0.021). Additionally, a significant negative correlation was found between neck angle and trunk angle at the 90th percentile (r=-0.943, p=0.002), as well as between head angle and trunk angle at the 90th percentile (r=-0.829, p=0.021). Moreover, a strong negative correlation was observed between RMS and head angle at the 50th percentile (r=-0.771, p=0.036) and 90th percentile (r=-0.829, p=0.021). In conclusion, the results show that wearing neck flexion exoskeletons during actual work tasks among floor layers reduces neck extensor muscle activity, excessive neck flexion, and forward head inclination, and it may lead to an increase in forward trunk inclination, without influencing work efficiency. / trätt som en möjlighet för att minska risken för WMSD. Tidigare studier har visat att bärbara passiva exoskelett är effektiva för att minska belastningen vid besvärliga arbetsställningar och minska muskelbelastningen vid arbetsuppgifter som involverar nackextension, extremiteter och rygg. Dock är effektiviteten av nyligen utvecklade industriella exoskelett designade för nackflexion fortfarande osäker. Denna studie syftade till att undersöka effekten av ett nackflexionsexoskelett, med avseende på muskelbelastning och arbetsställningar hos golvarbetare. Sex försökspersoner rekryterades för fältmätningar. Muskelaktiviteten hos nackextensorerna, samt framåtlutningsvinkeln av huvudet och bålen, mättes under arbetet. Statistisk jämförelse mellan att bära och inte bära nackflexionsexoskelettet utfördes med hjälp av Wilcoxon signed-rank test för relaterade prover. Spearman rangkorrelationskoefficient användes för att analysera korrelationen mellan olika parametrar när nackflexionsexoskelettet bars. Resultaten visade att exoskelettet signifikant minskade muskelaktiviteten ; vid 10:e percentilen (p=0.028), 50:e percentilen (p=0.028) och 90:e percentilen (p=0.028). Vidare minskade även huvudvinkeln signifikant, 10:e percentilen (p=0.028) och 90:e percentilen (p=0.046) av, liksomnackvinkelns 50:e percentilen (p=0.028) och 90:e percentilen (p=0.028). Bålvinkeln, däremot, var signifikant högre med exoskelettet både vid 50:e percentilen (p=0.046) och 90:e percentilen (p=0.027). Korrelationsanalysen avslöjade en negativ korrelation mellan nackvinkel och bålvinkel vid 10:e percentilen (r=-0.829, p=0.021) när exoskelettet bars. Dessutom var det en signifikant negativ korrelation mellan nackvinkel och bålvinkel vid 90:e percentilen (r=-0.943, p=0.002), samt mellan huvudvinkel och bålvinkel vid 90:e percentilen (r=-0.829, p=0.021) när exoskelettet bars. Dessutom observerades en stark negativ korrelation mellan muskelaktivitet och huvudvinkel vid 50:e percentilen av de båda måtten (r=-0.771, p=0.036) och vid 90:e percentilen (r=-0.829, p=0.021) när exoskelettet bars. Sammanfattningsvis visar resultaten att användning av nackflexionsexoskelett under faktiska arbetsuppgifter bland golvläggare minskar nackextensorernas muskelaktivitet, nackflexion och framåtlutning av huvudet, samt ökar framåtlutningen av av bålen utan att påverka arbetseffektiviteten.

[ES] La mano humana es uno de los instrumentos más importantes para la psicomotricidad de ser humano y cualquier problema crónico como la Artritis Reumatoide (AR) implica la necesidad de una rehabilitación pautada y seriada desde el punto de vista médico que controle y verifique su efectividad en el tiempo. La Artritis Reumatoide es una de las enfermedades crónicas de mayor impacto social en la actualidad que afecta principalmente a personas mayores. Se considera que la AR afecta actividades y la calidad de vida de una persona, sobre todo en la de los adultos mayores, donde las afectaciones son mayormente significativas y requieren de atención. A través de la rehabilitación controlada asistida por ordenador, la tesis presenta, por una parte, una investigación sobre exoesqueletos para la rehabilitación crónica y por otra, la creación y validación de un dispositivo exoesquelético para el mano denominado ARTH-aid System que servirá para mejorar la rehabilitación de la mano artrítica que sufre una atrofia muscular progresiva. El sistema creado representa una ayuda significativa a través de la integración de determinados factores como: ergonomía, funcionalidad y diseño. Se ha diseñado y testeado con usuarios finales tomando en cuenta los factores mecánicos y de funcionalidad en la pérdida progresiva de movilidad manual de la mano en personas mayores con AR crónica. El sistema de rehabilitación incluye como parte fundamental un exoesqueleto en la mano que evalúa la dinámica y el progreso de la rehabilitación de un usuario generando confianza y satisfacción en el paciente durante las sesiones y mejorando la interacción con el fisioterapeuta. La metodología y el diseño de un guante exoesqueleto para la rehabilitación de pacientes crónicos de AR, ha sido desarrollada y evaluada teniendo en cuenta aspectos relacionados con el Design Thinking (DT) y el Diseño Centrado en el Usuario (DCU). Así mismo, en la creación e implementación tecnológica del sistema, se ha tenido en cuenta las tecnologías informáticas y electrónicas orientadas al manejo de sistema de gestión y control de movimientos programados mediante una placa electrónica integrada, finalmente se han utilizados aplicaciones de Diseño Asistido por Ordenador (DAO) y herramientas de Prototipado Rápido (PR) para la generación de las simulaciones informáticas y piezas físicas articuladas implementadas en el guante. La validación del sistema se realizó en el Hogar de Ancianos Santa Catalina Labouré, de Quito, Ecuador, primero con un grupo de expertos compuesto por los fisioterapeutas que trabajan en el centro y que permitió analizar su factibilidad como sistema integrado en el proceso de rehabilitación actual y posteriormente con un grupo de pacientes controlados terapéuticamente desde el centro, que permitió validar la funcionalidad del dispositivo, verificar su efectividad y evaluar el nivel de satisfacción dentro de la experiencia del usuario. / [CA] En la present tesi doctoral es va a profundir una de les malalties de gran impacte com és el cas de l'Artritis Reumatoide (AR) que afecta greument nivell mundial a persones de diferents edats. En entendre a la mà com una de les majors eines de vida, es consideren tots els impactes que té la AR en la vida d'una persona, especialment en la dels adults majors, on les afectacions són majorment significatives i requereixen d'atenció Amb la finalitat de millorar la qualitat de vida d'adults majors que pateixen de AR, la investigació culmina en el disseny d'una eina per a la rehabilitació contínua i controlada que va ser concebuda mitjançant el Disseny Centrat en l'Usuari (DCU) i la implementació de tecnologies i eines de Prototipado Ràpid. No sense abans haver realitzat una forta investigació que permeta comprendre clarament l'anatomia i la fisiologia de la mà. Seguit de revisions de pro-posades que es troben en el mercat i de diferents validacions amb diversos prototips, els mateix que són part de la metodologia utilitzada i que van permetre analitzar tant a la proposta de disseny com els requeriments essencials dels usuaris finals. El correcte enteniment de l'estructura biomecànica de la mà resideix en el coneixement de la seua estructura com un component funcional autònom; la geometria biomètrica de la mà representa un conjunt d'ossos, músculs i articulacions que són els responsables del control motor i sensorial de la mà. En perdre aquestes habilitats i funcions, es perd la capacitat de realitzar una sèrie de diversos moviments de força i agarres, i fins i tot altres activitats quotidianes com vestirse o menjar. El desenvolupament d'un sistema de rehabilitació mitjançant un exoesquelet adaptat i dissenyat pensant en l'usuari, permet millorar la interacció objecte- persona, la dinàmica de rehabilitació i generar confiança en el pacient durant el seu interacció amb el fisioterapeuta. Aquest escenari representa una ajuda significativa a través de la integració de determinats factors com: ergonomia, funcionalitat i disseny per a assemble i manufactura, aspectes que van permetre validar l'exoesquelet creat amb un grup d'usuaris reals. En aqueix sentit, les validacions es van fer tant amb el grup de pacients que pertanyen a la Llar d'Ancians "Santa Catalina Labouré", com amb el grup expert de fisioterapeutes que dediquen un temps a la rehabilitació d'aquests pacients. / [EN] The human hand is one of the most important instruments for the psychomotricity of being human and any chronic problem such as Rheumatoid Arthritis (RA) implies the need for a scheduled and serial rehabilitation from the medical point of view that controls and verifies its effectiveness over time. Rheumatoid arthritis is one of the chronic diseases with the greatest social impact today that mainly affects older people. RA is considered to affect a person's activities and quality of life, especially in older adults, where the affectations are mostly significant and require attention. Through computer-aided controlled rehabilitation, the thesis presents, on the one hand, an investigation on exoskeletons for chronic rehabilitation and on the other, the creation and validation of an exoskeletal device for the hand called ARTH-AID System that will serve to improve the rehabilitation of the arthritic hand that suffers a progressive muscular atrophy. The system created represents a significant help through the integration of certain factors such as: ergonomics, functionality and design. It has been designed and tested with end users taking into account the mechanical and functional factors in the progressive loss of manual hand mobility in older people with chronic RA. The rehabilitation system includes as a fundamental part an exoskeleton in the hand that evaluates the dynamics and progress of a user's rehabilitation, generating confidence and satisfaction in the patient during the sessions and improving the interaction with the physiotherapist. The methodology and design of an exoskeleton glove for the rehabilitation of chronic RA patients has been developed and evaluated considering aspects related to Design Thinking (DT) and User-Centered Design (DCU). Likewise, in the creation and technological implementation of the system, computer and electronic technologies oriented to the management of management system and control of programmed movements through an integrated electronic board have been taken into account, finally Computer Aided Design (DAO) applications and Rapid Prototyping (PR) tools have been used for the generation of computer simulations and articulated physical parts implemented in the glove. The validation of the system was carried out at the Santa Catalina Labouré Nursing Home, in Quito, Ecuador, first with a group of experts composed of the physiotherapists who work in the center and that allowed to analyze its feasibility as an integrated system in the current rehabilitation process and later with a group of potential users or patients controlled therapeutically from the center, that allowed to validate the functionality of the device, verify its effectiveness and evaluate the level of satisfaction within the user experience. / Moya Jiménez, RC. (2023). Estudio sistémico de una estructura exoesquelética para la rehabilitación de la atrofia muscular de la mano en personas con artritis reumatoide [Tesis doctoral]. Universitat Politècnica de València. https://doi.org/10.4995/Thesis/10251/193057

Lower-limb exoskeletons are an emerging technology to provide walking assistance to people who have a spinal cord injury (SCI). Until now, exoskeletons have primarily been used in a clinical setting for a range of applications in rehabilitation, and there is potential for exoskeletons to be used by people with SCI at home. Daily walking with an exoskeleton contributes significantly to physical and mental health of the user, but previous work has concluded that further development is required before exoskeletons are broadly adopted for this purpose. ABLE Human Motion is currently working to create a lightweight and intuitive exoskeleton for home use. To understand how this exoskeleton must be designed differently from clinical rehabilitation exoskeletons, it is necessary to understand the user requirements of the device in depth. This thesis explored: 1) what methodology is appropriate for evaluating home use exoskeletons, 2) what users want to use a personal exoskeleton for, and 3) what design changes distinguish an exoskeleton for home use instead of rehabilitation. This was done using a combination of literature review, hazard analysis, user observations (n=7), user interviews (n=7), and physiotherapist interviews (n=3) to derive a detailed set of user requirements and product specifications for a personal exoskeleton for home use. Interviews were conducted face-to-face and analyzed using thematic analysis. Results of the study show that users primarily want to use a personal exoskeleton for daily exercise and wellness activities, in outdoor environments, and around the theme of “like-everyone-else”. Therapists added an additional theme of user trust in the device. These insights have been translated into a set of prioritized user requirements and product specifications for a lower-limb exoskeleton for walking assistance after SCI, which can be used in the future design and development of such a device. Future work will be to develop testing setups to further explore the product specifications, and to conduct observation studies of the exoskeleton being used in a home-like environment. / Exoskelett för de nedre extremiteterna är en framväxande teknik för att ge gångassistans till personer som har en ryggmärgsskada. Hittills har exoskelett främst använts i en klinisk miljö för en rad tillämpningar inom rehabilitering, men det finns potential för exoskelett att användas av personer med ryggmärgsskada för personligt bruk i hemmet. För att förstå hur personliga exoskelett måste utformas annorlunda än kliniska exoskelett är det nödvändigt att på djupet förstå användarens krav på enheten. Detta projekt använde en kombination av litteraturgranskning, riskanalys, användarobservationer, användarintervjuer och fysioterapeutintervjuer för att härleda en detaljerad uppsättning användarkrav och produktspecifikationer för ett personligt exoskelett för hemmabruk. Intervjuer analyserades med hjälp av tematisk analys. Resultaten av studien visar att användarna i första hand vill använda ett personligt exoskelett för dagliga tränings- och hälsoaktiviteter, i utomhusmiljöer och på temat ”som alla andra”. Andra viktiga teman för framtida utveckling var kring användarnas förtroende för enheten och bibehållande av motivation för daglig träning. Dessa teman har översatts till en uppsättning prioriterade användarkrav och produktspecifikationer för ett nedre extremitetsskelett för gångassistans efter en ryggmärgsskada som kan användas i framtida design och utveckling av en sådan enhet.