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What is the state-of-the-art for exoskeletons related to telerobotics?

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Exoskeletons for telerobotics have shown promising advancements in recent research. Two force-sensitive upper-limb exoskeletons have been proposed, featuring torque-controlled robotic actuators, rigid-body model compensations, and lightweight designs achieved through the use of Bowden cable transmissions and remotely placed actuators . These exoskeletons have demonstrated human-device interaction control, bilateral teleoperation with force feedback, and contact wrench mitigation through simulation . Additionally, studies have focused on the design of hand exoskeletons, addressing control signals such as EMG, EEG, voice, and FSR, as well as control mechanisms utilizing pattern recognition and virtual reality . The actuator section of these exoskeletons has seen the use of DC motors and linear actuators, with a need for improvements in weight and ergonomic design . Overall, the state-of-the-art for exoskeletons related to telerobotics includes advancements in control, teleoperation, and actuator design, with a focus on improving user comfort and usability .

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Open access•Journal Article•DOI Two-finger exoskeleton with force feedback for a mobile robot teleoperation: Aldo Aragón-Martínez, Manuel Arias-Montiel, Esther Lugo-González, Ricardo Tapia-Herrera - Show less +3 more 06 Jan 2020-International Journal of Advanced Robotic Systems 4 Citations	Copilot couldn't generate the response. Please try again after some time.
Book Chapter•DOI Robotics for Rehabilitation: A State of the Art Manuel Cardona, Marie André Destarac, Cecilia E. Garcia Cena - Show less +2 more 01 Jan 2020 4 Citations	Copilot couldn't generate the response. Please try again after some time.
Book Chapter•DOI A Review on Robotic Hand Exoskeleton Devices: State-of-the-Art Method Triwiyanto Triwiyanto, Endro Yulianto, Muhammad Ridha Mak'ruf, Dyah Titisari, Triana Rahmawati, Sari Luthfiyah, Torib Hamzah, Syaifudin Syaifudin, I Dewa Gede Hari Wisana - Show less +8 more 01 Jan 2021 1 Citations	Copilot couldn't generate the response. Please try again after some time.
Proceedings Article•DOI A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics Alexander Toedtheide, Xiao Chen, Hamid Sadeghian, Abdeldjallil Naceri, Sami Haddadin - Show less +4 more 29 May 2023 1 Citations	Copilot couldn't generate the response. Please try again after some time.
Proceedings Article•DOI A Force-Sensitive Exoskeleton for Teleoperation: An Application in Elderly Care Robotics 29 May 2023	Copilot couldn't generate the response. Please try again after some time.

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How are exoskeletons controlled?5 answersExoskeletons are controlled using various strategies to enhance user experience and efficiency. Control methods include surface electromyography (sEMG) signals, rule-based algorithms, ground reaction force thresholds, and trajectory-tracking control. These strategies aim to stimulate motor function recovery in brain-injured patients and improve rehabilitation outcomes. Control strategies for lower limb exoskeletons face challenges in detecting human intention, executing motion control, and optimizing parameters. Interaction control is crucial to ensure compatibility between the exoskeleton and the wearer, reducing joint misalignment and interaction forces during movement. Additionally, controlling mobility devices involves executing control applications through electronic communication devices based on user profiles, allowing for real-time session monitoring and future analysis. These diverse control approaches contribute to the advancement of exoskeleton technology for various applications.

What are some gaps identified in the current state of hand exoskeleton devices for stroke rehabilitation?5 answersCurrent hand exoskeleton devices for stroke rehabilitation face several challenges. These challenges include issues with user-friendly design, portability for daily use, and dexterity for various tasks. Existing hand exoskeletons lack the ability to assist users in performing natural hand movements covering the entire physiological motor space (PMS). Moreover, many exoskeleton hand rehabilitation robots are criticized for their overall weight and control limitations, hindering their full application potential. These gaps highlight the need for advancements in hand exoskeleton technology to enhance user experience, improve rehabilitation outcomes, and promote wider adoption in both clinical and household settings.

What is teleoperation and what are the types?4 answersTeleoperation is the technology of robotic remote control, where humans operate machines from a distance. It aims to optimize the collaboration between humans and robots in hazardous and inaccessible environments. There are different types of teleoperation systems, each with its own focus and application. One type is telemanipulation, which involves controlling robotic manipulators to perform complex tasks that require dexterous movements and high-level intelligence. Another type is teleoperation in construction, which focuses on enhancing worker safety by operating construction equipment from a distance. Teleoperation can also be used in autonomous vehicles, such as trucks, where operators can remotely control the vehicle and switch between manual and autonomous modes. Additionally, there are teleoperation devices that detect and transmit vibration information to operators, allowing them to remotely perceive and interact with the environment.

What are the types of teleoperation?5 answersTeleoperation can be categorized into different types. One type is bilateral teleoperation, which involves the control of a robot by a human operator through a two-way communication channel. This type of teleoperation allows for real-time interaction and feedback between the operator and the robot. Another type is force-reflecting teleoperation, which focuses on providing the operator with a sense of force feedback from the robot's environment. This allows for more intuitive control and manipulation of the robot. Additionally, there is the concept of human teleoperation, which leverages mixed reality, haptics, and high-speed communication to provide tightly coupled tele-guidance. This type of teleoperation is more accessible than traditional telerobotics while still maintaining a strong connection between the operator and the remote system.

What are the performance indicators of exoskeletons control?4 answersPerformance indicators of exoskeleton control include transient performance, steady-state performance, joint angle tracking control, prescribed transient performance, fixed-time convergence, adjustable range of parameters, stability analysis, motor skills evaluation, human-robot interaction metrics, interface load, tracking error, voluntary range of motion, velocity field control, trajectory tracking, unknown dynamics, neural network term, robustness of impedance control, and model uncertainty compensation.

What are the advantages and disadvantages of having an exoskeleton?3 answersExoskeletons have several advantages and disadvantages. On the positive side, exoskeletons can improve human strength and endurance in manual work during different phases of production. They can also reduce users' metabolic energy expenditure across locomotion conditions by reducing active muscle volume. Exoskeletons have the potential to help individuals maintain or regain neuromuscular health and provide personal mobility or over-ground locomotor training for individuals recovering from neurological injuries. However, there are also disadvantages to consider. Exoskeletons can reduce human flexibility, potentially leading to new sources of musculoskeletal disorders and accidents. The development of exoskeletons faces challenges in control algorithms, driver systems, power sources, and man-machine interfaces. Additionally, exoskeletons may not be suitable for all individuals, and clinicians need to understand how to operate and monitor the devices, as well as determine which patient populations would benefit the most.

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