Robotic exoskeleton technologies are one of the most active fields of robotics in recent years. Exoskeleton systems can give essential support for limb motions with enhanced strength and endurance, and they have a wide variety of therapeutic and supportive utility in life. These technologies have been extensively improved to be utilized for human power enhancement, worker injury prevention, human power assistance, and physical interface in augmented reality. Employees in the manufacturing and construction industries perform especially challenging duties, increasing their risk of health problems, disability, and medical leave, resulting in diminished job competitiveness and a shortage of qualified applicants. The usage of an exoskeleton might decrease muscular peak loads and lessen worker injury risks. This study includes a detailed analysis of employees wearing exoskeletons while doing various job-related duties. In this thesis, the tests assess the benefits of adopting exoskeletons in lowering human muscular activity and, as a result, weariness, and exhaustion. Unlike industrial robots, robotic exoskeleton technologies must be carefully built since they actually interact with actual users. The study used two widely available exoskeletons named Eksovest, an upper-body exoskeleton, and LegX, a lower-body exoskeleton. The study includes five applications: shoulder height weight-lifting, wall drilling, and roof drilling positions for the upper body Eksovest, and virtual chair and knee position for the lower body LegX. This application evaluated electromyography (EMG) signals which were collected using EMG sensors on the human body as supportive tools. Furthermore, the investigations compare the different volunteer’s body muscle data gathered by EMG sensors mounted on biceps, thigh, and calf muscles. The work also evaluates the accuracies of the data collecting procedures used in this study. Based on this study, it is discovered that by employing these exoskeletons may reduce muscular activity by up to 60%, hence enhancing the workforce's work life by reducing load and stresses on their body. This research will assist to raise the awareness by the outcomes of SMEs about the use of exoskeleton.

Although the level of automation in the automotive industry is currently high, real humans are still required for assembly tasks, for example, during overhead tasks. This type of work can cause injuries in workers in this sector, especially musculoskeletal disorders (MSDs), being a cause for the inability to work in developed countries and, in turn, becoming a significant health problem. There is an aim to reduce the risk for these type of injuries during the development processes of this type of assembly operations. Various options are currently being considered where technology and the human factor can be combined. Among them, we find the object of study for this project, an exoskeleton.The aim of this project is to study the biomechanical effects as well as the ergonomics of a passive exoskeleton called Paexo Shoulder, developed by the company Ottobock, with the aim of relieving tensions in the shoulder joints and upper part of the shoulders, during its use in assembly tasks. For this purpose, an experiment will be designed in which several participants will carry out a series of tasks both with and without the exoskeleton, in such a way that the effects of its use and how they affect the users of the product can be observed. For this purpose, an experiment was designed to evaluate the effects of the use or non-use of this exoskeleton on 10 participants when performing a task similar to an overhead task in an assembly line. For the evaluation of the product, the Xsens motion capture system, in particular the Awinda model, was used together with the ScaleFit software to evaluate the results obtained through the motion capture recordings. In addition, in order to improve Digital Human Modelling (DHM) tools, the same task was simulated with the IPS-IMMA software, where the results were later analysed and compared with the motion capture results through ScaleFit.The results showed relatively large improvements in the respective moment reduction at the shoulder joint when using the exoskeleton. However, it was also observed that due to the upward force exerted by the exoskeleton on the arms, participants spent less time in low-risk areas evaluated by ScaleFit and therefore, this effect needs to be studied further.

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Of the 795,000 people that suffer a stroke in the United States every year, 65% experience hemiparesis. Foot drop is a common gait pathology in people with lower-limb paresis and is often caused by neuropathy of the peroneal nerve that innervates the muscles responsible for ankle dorsiflexion. Foot drop can impede toe clearance and increase the risk of falling, the leading cause of injury among adults ≥65 years. Lower-limb robotic exoskeletons have been used for gait training and can aid with walking, but current devices on the market can be heavy, expensive, and constrained to in-clinic use. Soft wearable robotic devices offer a lightweight and cost-effective alternative to traditional lower-limb exoskeletons. In particular, soft pneumatic systems have the potential to provide a high power-to-weight ratio making them ideal for a wearable application. The soft pneumatic exosuit consists of a footplate to collect air, storage to temporarily house the collected air, and two pneumatic actuators to provide an assistive torque around the wearer’s ankle joint while walking. EMG and IMU sensors were integrated to control the opening and closing of solenoid valves so that assistive torques could be applied to the ankle joint at optimal moments during the gait cycle. Preliminary validation of the soft pneumatic exosuit on a healthy participant demonstrated that the system could successfully deliver the air required to contract the actuators when the EMG sensors detected an increase in muscle activity. These results demonstrate that the current soft pneumatic exosuit appears to be a promising alternative to current rehabilitation exoskeletons on the market while remaining portable and low-cost. / 2025-05-24T00:00:00Z

Humans use their hands on a daily basis, and they are a fundamental part of our lives both in terms of our work and our everyday activities. One of the key things that our hands allow us to do is grab onto objects. Unfortunately however, sometimes this ability to grab onto things becomes weakened, for example due to old age or diseases such as arthritis. This project was aimed to see if mechatronic engineering could be implemented to remedy this problem, while maintaining good accessibility and design. The resulting solution was a glove with pressure sensors and an integrated pulley system, which would provide a pulling force on the fingers and allow the user to get a reinforced grip on objects. A key factor in this design was to provide adequate function, without compromising form, i.e making the glove easy to wear and not clunky. The resulting glove provided substantial support to the test subjects grip strength, and presented a valid way to counteract their weekend state. However, the form was still considered too clunky and not efficient enough to warrant daily use. For future work, alternative pulley systems might be a valid option to slim down the glove and make it more accessible. Collaborating with people from the mechatronics industry, specifically those geared towards human augmentation, may also be beneficial to those with lacking experience or connections in the subject area. Conducting research specifically about what is considered “easy to use” may also be necessary to further solidify any changes in design. / Människor använder sina händer vardagligen, och de är en fundamental del av våra liv vad gäller både vardagssysslor och arbete. En av de viktigaste funktionerna våra händer utgör är att de tillåter oss att greppa tag i saker. Tyvärr händer det dock att denna förmåga försvagas exempelvis på grund av ålder eller sjukdomar såsom artros. Detta projekt var ämnat att se om en mekatronisk lösning kunde användas för att åtgärda detta problem, utan att göra uppoffringar vad gäller enkel design och tydlig form. Resultatet var en handske med trycksensorer och en integrerad motor som erbjöd en dragande kraft i fingrarna och ett förstärkt grepp. Den resulterande handsken erbjöd tillfredsställande support till testpersonerna greppstyrka och visade sig vara en rimlig lösning på de problem som individens artros ställt till med. Dessvärre ansågs formen fortfarande lite för otymplig och svårhanterad för att tillfredsställa önskemålen i den aspekten. För fortsatt arbete kan en annorlunda integration av motorn vara ett rimligt alternativ för att slimma ner handsken. Samarbete med företag inom robotik och mänskliga proteser kan också vara gynnsamt, speciellt för de med liten erfarenhet eller med fåtal kontakter inom testområdet. Tydligare efterforskning på vad som är “enkelt att använda” kan också leda designen i en bättre riktning.

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The topic area of this bachelor’s thesis is mechatronics. The thesis explores how grip strength can be increased through the use of an exoskeleton. This was done by making an exoskeleton that was powered by pneumatics. This thesis features the design and construction process of making a pneumatic exoskeleton. This includes research, methods and results of the project. The requirements for the exoskeleton was to increase grip strength and make the device safe to use. Both of these requirements were achieved. After completing the project it was also apparent that geometry and the layout of exoskeletons are important as this directly impacts the transfer of forces. It was also found that having a weight distribution that takes advantage of stronger body parts is important to make the use of the exoskeleton comfortable. However this prototype was also limited in the range of motion and was somewhat unreliable. / Ämnesområdet för denna kandidatuppsats är mekatronik. Avhandlingen undersöker hur greppstyrkan kan ökas genom användning av ett exoskelett. Detta gjordes genom att tillverka ett exoskelett som drevs av pneumatik. Denna avhandling beskriver design- och konstruktionsprocessen för att tillverka ett pneumatiskt exoskelett. Detta inkluderar forskning, metoder och resultat av projektet. Kraven på exoskelettet var att öka grepp styrkanoch göra exoskelettet säker att använda. Båda dessa krav uppfylldes. Efter att ha avslutat projektet var det uppenbart att geometrin och utformningen av exoskelett är en viktig del eftersom detta direkt påverkar kraftöverföring. Man fann också att det är viktigt att ha en viktfördelning som drar fördel av starkare kroppsdelar för att göra användningen av exoskelettet bekväm. Men denna prototyp var också begränsad i rörelseomfånget och varopålitlig.

This dissertation presents a comprehensive exploration encompassing the design, development, control and the application of reinforcement learning-based force planning for the autonomous grasping capabilities of the innovative assistive robotic exoskeleton gloves. Exoskeleton devices have emerged as a promising avenue for providing assistance to individuals with hand disabilities, especially those who may not achieve full recovery through surgical interventions. Nevertheless, prevailing exoskeleton glove systems encounter a multitude of challenges spanning design, control, and human-machine interaction. These challenges have given rise to limitations, such as unwieldy bulkiness, an absence of precise force control algorithms, limited portability, and an imbalance between lightweight construction and the essential functionalities required for everyday activities. To address these challenges, this research undertakes a comprehensive exploration of various dimensions within the exoskeleton glove system domain. This includes the intricate design of the finger linkage mechanism, meticulous kinematic analysis, strategic kinematic synthesis, nuanced dynamic modeling, thorough simulation, and adaptive control. The development of two distinct types of series elastic actuators, coupled with the creation of two diverse exoskeleton glove designs based on differing mechanisms, constitutes a pivotal aspect of this study. For the exoskeleton glove integrated with series elastic actuators, a sophisticated dynamic model is meticulously crafted. This endeavor involves the formulation of a mathematical framework to address backlash and the subsequent mitigation of friction forces. The pursuit of accurate force control culminates in the proposition of a data-driven model-free force predictive control policy, compared with a dynamic model-based force control methodology. Notably, the efficacy of the system is validated through meticulous clinical experiments. Meanwhile, the low-profile exoskeleton glove design with a novel mechanism engages in a further reduction of size and weight. This is achieved through the integration of a rigid coupling hybrid mechanism, yielding pronounced advancements in wearability and comfortability. A deep reinforcement learning approach is adopted for the real-time force planning control policies. A simulation environment is built to train the reinforcement learning agent. In summary, this research endeavors to surmount the constraints imposed by existing exoskeleton glove systems. By virtue of advancing mechanism design, innovating control strategies, enriching perception capabilities, and enhancing wearability, the ultimate goal is to augment the functionality and efficacy of these devices within the realm of assistive applications. / Doctor of Philosophy / This dissertation presents a comprehensive exploration encompassing the design, development, control and the application of reinforcement learning-based force planning for the autonomous grasping capabilities of the innovative assistive robotic exoskeleton gloves. Exoskeleton devices hold significant promise as valuable aids for patients with hand disabilities who may not achieve full recuperation through surgical interventions. However, the present iteration of exoskeleton glove systems encounters notable limitations in terms of design, control mechanisms, and human-machine interaction. Specifically, prevailing systems often suffer from bulkiness, lack of portability, and an inadequate equilibrium between lightweight construction and the essential functionalities imperative for daily tasks. To address these challenges, this research undertakes a comprehensive exploration of diverse facets within the exoskeleton glove system domain. This encompasses a detailed focus on mechanical design, control strategies, and human-machine interaction. To address wearability and comfort, two distinct exoskeleton glove variations are devised, each rooted in different mechanisms. An innovative data-driven model-free force predictive control policy is posited to enable accurate force regulation. Rigorous clinical experiments are conducted to meticulously validate the efficacy of the system. Furthermore, a novel mechanism is seamlessly integrated into the design of a new low-profile exoskeleton glove, thereby augmenting wearability and comfort by minimizing size and weight. A deep reinforcement learning based control agent, which is trained within a simulation environment, is devised to facilitate real-time autonomous force planning. In summary, the overarching objective of this research lies in rectifying the limitations inherent in existing exoskeleton glove systems. By spearheading advancements in mechanical design, control methodologies, perception capabilities, and wearability, the ultimate aim is to substantially enhance the functionality and overall efficacy of these devices within the sphere of assistive applications.