Wearable Robotics: Challenges and Trends: Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe ... 13–16, 2020

Description

This book reports on advanced topics in the areas of wearable robotics research and practice. It focuses on new technologies, including neural interfaces, soft wearable robots, sensors and actuators technologies, discussing industrially and medically-relevant issues, as well as legal and ethical aspects. It covers exemplary case studies highlighting challenges related to the implementation of wearable robots for different purposes, and describing advanced solutions. Based on the 5th International Symposium on Wearable Robotics, WeRob2020, and on WearRacon Europe 2020, which were both held online on October 13-16, 2020, the book addresses a large audience of academics and professionals working in for the government, in the industry, and in medical centers, as well as end-users alike. By merging together engineering, medical, ethical and industrial perspectives, it offers a multidisciplinary, timely snapshot of the field of wearable technologies.  Contents What Should We Expect from Passive Exoskeletons? The Hidden Potential of Energetically Passive Exoskeletons 1 Introduction 2 Materials and Methods 3 Results 4 Discussion 5 Conclusion References Effect of a Back-Assist Exosuit on Logistics Worker Perceptions, Acceptance, and Muscle Activity 1 Introduction 2 Methods 2.1 Training 2.2 Simulated Lifting and Lowering Tasks 2.3 Real Work Environment Evaluation 3 Results 4 Discussion and Conclusion References A Design Tool for Passive Wrist Support 1 Introduction 2 Methods 2.1 Proposed Design 2.2 Beam Shape Optimization 3 Results and Discussion 4 Conclusion References The Key Elements in the Design of Passive Assistive Devices 1 Introduction 2 Methods 2.1 Compliance and Multi Articular Engagement 2.2 Case Study 3 Results 4 Conclusion and Future Work References Novel Designs for Passive Elastic Lower Limb Exoskeletons 1 Introduction 2 Historical Devices 3 Lower Limb Exoskeleton Devices 4 Conclusion References Passive Compliance in Legged Systems and Assistive Devices 1 Summary 2 The Upright Human Body Posture 3 Mechanical Design of Human Legged Locomotion 4 Assistance by Compliant Mechanisms 5 Tuned Mechanics by Control 6 Tuned Mechanics by Control 7 Conclusion and Future Work References Spring Like Passive Elastic Exoskeletons May Improve Stability and Safety of Locomotion in Uneven Terrain 1 Introduction 2 Material and Methods 2.1 Mathematical Model 2.2 Experimental Protocol 2.3 Outcome Measures 3 Results 4 Discussion 5 Conclusion References Balance Recovery Support Using Wearable Robotic Devices Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking 1 Introduction 2 Material and Methods 2.1 Robotic Exoskeleton 2.2 Controller 2.3 Experiment 3 Results 4 Discussion and Conclusion References Coupling an Active Pelvis Orthosis with Different Prosthetic Knees While Transfemoral Amputees Manage a Slippage: A Pilot Study 1 Introduction 2 Materials and Methods 2.1 Subjects, Experimental Setup, Protocol and Data Analysis 3 Results 4 Discussion and Conclusion 5 Conclusion References Self-induced Gyroscopic Torques in Lower Extremities During Gait: A Pilot Study 1 Introduction 2 Materials and Methods 3 Results and Discussion 4 Conclusion References Comparison of Balance Recovery Among Current Control Strategies for Robotic Leg Prostheses 1 Introduction 2 Comparison of Balance Recovery 3 Continuously Reactive Prosthesis 4 Conclusion References Reflex-Model with Additional COM Feedback Describes the Ankle Strategy in Perturbed Walking 1 Introduction 2 Methods 2.1 Experiments 2.2 Inverse Kinematic and Dynamic Analysis 2.3 Reflex Parameter Estimation 3 Results 4 Discussion 5 Conclusion References Optimising Balance Margin in Lower Limb Exoskeleton to Assist User-Driven Gait Stability 1 Introduction 2 Materials and Method 2.1 Human-Exoskeleton Model 2.2 Gait Parameterisation 2.3 Reward Function 2.4 Simulation and Evaluation 3 Results 4 Discussion 5 Conclusion References Active Life with Prosthesis Control of Servomotor Rotation in a Myoelectric Upper-Limb Prosthesis Using a 16-Channel sEMG Sensor System 1 Introduction 2 Materials and Methods 2.1 Recording of the Measurements 2.2 Channel Identification 2.3 Servomotor Control 2.4 Validation 3 Results and Discussion 4 Conclusion References Compliant Control of a Transfemoral Prosthesis Combining Predictive Learning and Primitive-Based Reference Trajectories 1 Introduction 2 Control Architecture 2.1 Generation of Reference Trajectories 2.2 Feed-Forward Contribution: Prediction Torque 2.3 Feedback Contribution: Error Correction 3 Simulation Results 4 Discussion and Conclusion References Design and Testing of a Fully-Integrated Electro-Hydrostatic Actuator for Powered Knee Prostheses 1 Introduction 2 Materials and Methods 2.1 Biomechanical Requirements 2.2 Kinematics of Actuation 2.3 EHA Unit 3 Results 4 Discussion 5 Conclusions References Controlling Upper-Limb Prostheses with Body Compensations 1 Introduction 2 Materials and Methods 2.1 Control Law 2.2 Experimental Set-Up 3 Results 3.1 Task Performance 3.2 Joint Motions 4 Discussion 5 Conclusion References HandMECH—Mechanical Hand Prosthesis: Conceptual Design of a Two Degrees-of-Freedom Compliant Wrist 1 Introduction 2 Design 2.1 Design of the Wrist 2.2 Locking Mechanism 3 Analyses and Results 3.1 Kinematics and Kinetics 3.2 Structural analysis 4 Conclusion References HandMECH—Mechanical Hand Prosthesis: Conceptual Design of the Hand Compartment 1 Introduction 2 Design 2.1 Design of the Index Finger 2.2 Design of the Middle, Ring and Little Fingers 2.3 Thumb Design 2.4 Body-Powered Mechanism 3 Analyses and Results 4 Conclusion References Legislation, Safety and Performance: Regulatory Aspects in Wearable Robots CO-GUIDING: Ergonomic Analysis of a Hand Guidance System for Car Door Assembly 1 Introduction 2 Development 2.1 Workstation Description 2.2 Experimental Protocol 2.3 Simulated Test 2.4 Evaluation Method 3 Results 4 Conclusions and Discussion References ATEX Certification for ALDAK Exoskeleton in Petrochemical Industry 1 Introduction 2 Material and Methods 2.1 Normative References 2.2 Risk Assessment 2.3 Technical Documentation and Marking 3 Conclusion References Acceptance of Exoskeletons: Questionnaire Survey 1 Introduction 2 Material and Method 3 Results 3.1 Ease of Use 3.2 Performance Expectations 3.3 Social Influence 3.4 User’s Emotional Reactions 4 Discussion and Conclusion References Perceived Exertion During Robot-Assisted Gait After Stroke 1 Introduction 2 Methods 2.1 Study Protocol 2.2 Participants 2.3 Experimental Procedure 2.4 Outcomes 2.5 Statistical Analysis 3 Results 4 Discussion and Conclusion References Testing Safety of Lower Limbs Exoskeletons: Current Regulatory Gaps 1 Introduction 2 Legislations 2.1 EU Directives and Regulations 2.2 American Food and Drugs Administration (FDA) 2.3 ISO/IEC Standards 2.4 ASTM 3 Conclusion References The Testing of Industrial Exoskeletons Evaluation of Two Upper-Limb Exoskeletons for Ceiling Welding in the Naval Industry 1 Introduction 2 Material and Methods 2.1 Instrumentation 2.2 Assistive Devices 2.3 Task Definition 2.4 Subjects, Tests and Measurements 3 Results 4 Discussion References Preliminary Study of an Exoskeleton Index for Ergonomic Assessment in the Workplace 1 Introduction 2 Materials and Methods 2.1 Experimental Design 2.2 Data Analysis 3 Results 4 Discussion 5 Conclusion References Effect of a New Passive Shoulder Exoskeleton on the Full Body Musculoskeletal Load During Overhead Work 1 Introduction 2 Material and Methods 3 Results 4 Discussion 5 Conclusion References The Experience of Plasterers Towards Using an Arm Support Exoskeleton 1 Introduction 2 Methods 2.1 Subjects 2.2 Procedures 3 Results 4 Conclusion References Biomechanical Evaluation of the Effect of Three Trunk Support Exoskeletons on Spine Loading During Lifting 1 Introduction 2 Material and Methods 2.1 Participants, Exoskeletons and Procedure 2.2 Measurements and Analyses 3 Results 4 Discussion 5 Conclusion References Can HDEMG-Based Low Back Muscle Fatigue Estimates Be Used in Exoskeleton Control During Prolonged Trunk Bending? A Pilot Study 1 Introduction 2 Material and Methods 3 Results 4 Discussion 5 Conclusion References Back-Support Exoskeleton Control Using User's Torso Acceleration and Velocity to Assist Manual Material Handling 1 Introduction 2 Control Strategies 2.1 Rationale for Using User's Dynamics 2.2 Implementation 3 Experimental Results 4 Discussion References Subjective Assessment of Occupational Exoskeletons: Feasibility Study for a Custom Survey for Braces 1 Introduction 2 Methods 2.1 Experimental Setup 2.2 Experimental Design 2.3 Questionnaire Form 3 Results 4 Conclusion References Evidenced-Based Indications/Contraindications for and Potential Benefits of Exoskeletal-Assisted Walking in Persons with Spinal Cord Injury Alteration of Push-Off Mechanics During Walking with Different Prototype Designs of a Soft Exoskeleton in People with Incomplete Spinal Cord Injury—A Case Series 1 Introduction 2 Methods 2.1 XoSoft 2.2 Participants 2.3 Data Collection 3 Results 4 Discussion 5 Conclusion References The Effect of Exoskeletal-Assisted Walking on Bowel and Bladder Function: Results from a Randomized Trial 1 Introduction 2 Materials and Methods 3 Results 4 Discussion 5 Conclusion References Smartwear with Artificial Intelligence (AI) in Assessing Workload in View of Ergonomics 1 Introduction—Smartwear and Ergo Analysis™ by Myontec Oy 2 System, Methods and Use Cases 3 Results 3.1 Ergonomics Projects as Worksite Service 3.2 Assessing Exoskeletons 3.3 Designing and Assessing Hand Tools 4 Discussion 4.1 Artificial Intelligence (AI) 5 Conclusion References Comparison of ReWalk® and Ekso® Powered Exoskeletons for Stepping and Speed During Training Sessions 1 Introduction 2 Materials and Methods 2.1 Participants 2.2 Exoskeleton Training 2.3 Statistical Analysis 3 Results 4 Discussion 5 Conclusion References Indications and Contraindications for Exoskeletal-Assisted Walking in Persons with Spinal Cord Injury 1 Introduction 2 Materials and Methods 3 Results 4 Discussion 5 Conclusion References The Impact of Exoskeletal-Assisted Walking on the Immune System of Individuals with Chronic Spinal Cord Injury (SCI) 1 Introduction 2 Materials and Methods 3 Results 4 Conclusions References Exoskeleton Controller and Design Considerations: Effect on Training Response for Persons with Spinal Cord Injury 1 Introduction 2 Materials and Methods 2.1 Participant Demographics and Training Protocol 2.2 Exoskeleton Training 2.3 Variables of Interest—Statistical Analysis 3 Results 3.1 Descriptive Comparisons 3.2 Velocity Comparisons 4 Discussion 5 Conclusion References Neuromechanical Modelling and Control for Wearable Robots: Enhancing Movement After Neuromuscular Injuries Neuromusculoskeletal Model-Based Controller for Voluntary and Continuous Assistance in a Broad Range of Locomotion Tasks 1 Introduction 2 Methods 3 Experiments and Results 4 Discussion and Conclusion References Energy Cost of Transport in Overground Walking of a Transfemoral Amputee Following One Month of Robot-Mediated Training 1 Introduction 2 Materials and Methods 2.1 Active Pelvis Orthosis (APO) 2.2 Protocol 2.3 Analysis of Walking Efficiency 3 Results 4 Discussion References Physical Therapy and Outdoor Assistance with the Myosuit: Preliminary Results 1 Introduction 2 Methods 3 Results and Discussion 4 Conclusions References Predictive Simulation of Sit-to-Stand Movements 1 Introduction 2 Methods 2.1 Musculoskeletal Model 2.2 Feedback Controller 2.3 Cost Function 3 Results 4 Conclusion References SimBionics: Neuromechanical Simulation and Sensory Feedback for the Control of Bionic Legs 1 Introduction 2 Neuromechanical Simulation for Control of Prosthesis 2.1 Simbionics Project References Pseudo-online Muscle Onset Detection Algorithm with Threshold Auto-Adjustment for Lower Limb Exoskeleton Control 1 Introduction 2 Materials and Methods 3 Results 4 Discussion 5 Conclusion References Benefits and Potential of a Neuromuscular Controller for Exoskeleton-Assisted Walking 1 Introduction 2 Exoskeleton-Assisted Walking with a Neuromuscular Controller 2.1 Neuromuscular Controller 2.2 Case Studies 3 Results and Discussions 4 Conclusion References CANopen Robot Controller (CORC): An Open Software Stack for Human Robot Interaction Development 1 Introduction 2 Materials and Methods 2.1 Goals and Objectives 2.2 Platform 2.3 Software Architecture 2.4 Viability Test 3 Results 4 Discussion 5 Conclusions References Toward Efficient Human-Exoskeleton Symbiosis Direct Collocation-Based Optimal Controller for Multi-modal Assistance: Simulation Study 1 Introduction 2 Methods 2.1 Biomechanical Model of the Multi-modal Assistive System 2.2 Direct Collocation-Based Optimal Controller 3 Simulation Results 4 Conclusion References A Semi-active Upper-Body Exoskeleton for Motion Assistance 1 Introduction 2 Exoskeleton Design 3 Sensing and Control 4 Preliminary Testing 5 Conclusion References Ultrasound-Based Sensing and Control of Functional Electrical Stimulation for Ankle Joint Dorsiflexion: Preliminary Study 1 Introduction 2 Methods 3 Experimental Results and Discussion 4 Conclusion References Towards Crutch-Free 3-D Walking Support with the Lower Body Exoskeleton Co-Ex: Self-balancing Squatting Experiments 1 Introduction 2 Methods 2.1 Hardware of Co-Ex 2.2 Control of Co-Ex 3 Discussion References Ankle Dorsiflexion Assistance Using Adaptive Functional Electrical Stimulation and Actuated Ankle Foot Orthosis 1 Introduction 2 Method 2.1 Adaptive Functional Electrical Stimulation 2.2 AAFO Controller 3 Results 4 Conclusion References Soft Wearable Robots for Health and Industry Feasibility and Effectiveness of a Soft Exoskeleton for Pediatric Rehabilitation 1 Introduction 2 Material and Methods 2.1 The Exoskeleton 2.2 Methods 3 Results 3.1 Feasibility 3.2 Assistive Effects 3.3 Rehabilitative Effects 4 Conclusion References FleXo—Modular Flexible Back-Support Passive Exoskeleton 1 Introduction 2 System Description 3 Conclusion and Discussion References A Model-Based Control Strategy for Upper Limb Exosuits 1 Introduction 2 Materials and Methods 2.1 Myoprocessor Module 2.2 Experimental Setup 2.3 Experimental Protocol 3 Results 4 Conclusion References Pneumatic Control System for Exoskeleton Joint Actuation 1 Introduction 2 Material and Methods 3 Results 3.1 Experiments with the Active Exoskeleton with Volunteers 4 Discussion 5 Conclusion References PowerGrasp: Development Aspects for Arm Support Systems 1 Introduction 2 Development Aspects 3 Conclusion and Discussion References Mobile Unilateral Hip Flexion Exosuit Assistance for Overground Walking in Individuals Post-Stroke: A Case Series 1 Introduction 2 Methods and Materials 2.1 Familiarization and Tuning 2.2 Evaluation of Assistance: Five Minute Walk Tests 3 Results 4 Discussion 5 Conclusions References The SoftPro Wearable System for Grasp Compensation in Stroke Patients 1 Introduction 2 System Components 3 System Integration 4 Pilot Studies 5 Conclusion References Towards a Fabric-Based Soft Hand Exoskeleton for Various Grasp Taxonomies 1 Introduction 2 Design of the Fabric-Based Soft Hand Exoskeleton 3 Validation Methodology 4 Results 5 Discussion 6 Conclusions and Future Works References Musculoskeletal Modelling to Evaluate and Optimize Performance of Wearable Robotic Devices Predictive Gait Simulations of Human Energy Optimization 1 Introduction 2 Methods 3 Results 4 Discussion References Reconstruction of Hip Moments Through Constrained Shape Primitives 1 Introduction 2 Materials and Methods 2.1 Computation of Muscular Stimulations 2.2 Extraction of the Motor Primitives 3 Results and Discussion 4 Conclusion References Simulated Exoskeletons with Coupled Degrees-of-Freedom Reduce the Metabolic Cost of Walking 1 Introduction 2 Methods 3 Results 4 Discussion 5 Conclusion References Model-Based Biomechanics for Conceptual Exoskeleton Support Estimation Applied for a Lifting Task 1 Introduction 2 Material and Methods 3 Results 4 Discussion 5 Conclusion and Future Work References Calibrating an EMG-Driven Muscle Model and a Regression Model to Estimate Moments Generated Actively by Back Muscles for Controlling an Actuated Exoskeleton with Limited Data 1 Introduction 2 Material and Methods 3 Results 4 Discussion 5 Conclusion References Effect of Mono- Versus Bi-Articular Ankle Foot Orthosis on Muscular Performance of the Lower Leg 1 Introduction 2 Methods 3 Results 3.1 Muscles' Activation Levels 3.2 Muscles' Power 4 Discussions and Conclusions References Ultrasound Imaging of Plantarflexor Muscles During Robotic Ankle Assisted Walking: Effects on Muscle Tendon Dynamics and Application Towards Improved Exoskeleton and Exosuit Control 1 Introduction 2 Materials and Methods 2.1 PoWeR Lab 2.2 Harvard Biodesign and Biorobotics 3 Results 3.1 PoWeR Lab 3.2 Harvard Biodesign and Biorobotics 4 Discussion 4.1 PoWeR Lab 4.2 Harvard Biodesign and Biorobotics 5 Conclusion References Simulation Platform for Dynamic Modeling of Lower Limb Rehabilitation Exoskeletons: Exo-H3 Case Study 1 Introduction 2 Material and Methods 3 Results and Discussion 4 Conclusions and Outlook References Understanding Technology-Induced Compensation: Effects of a Wrist-Constrained Robotic Hand Orthosis on Grasping Kinematics 1 Introduction 2 Methods 2.1 Robotic Hand Orthosis 2.2 Participants 2.3 Wearable Sensor Device and Outcome Measures 2.4 Experimental Setup and Task Protocol 2.5 Statistical Analysis 3 Results 4 Discussion and Conclusion References The Effects of Vestibular Stimulation to Enhance Rehabilitation and Enable Robotic Exoskeleton Training for Persons with CP 1 Introduction 2 Material and Methods 3 Results 4 Discussion and Conclusions References Digitalization and Artificial Intelligence Applied to Wearable Technologies and Ergonomics A New Terrain Recognition Approach for Predictive Control of Assistive Devices Using Depth Vision 1 Introduction 2 Methods 3 Results and Discussion 4 Conclusion References Simulation-Based Optimization Methodology for Designing a Workspace with an Exoskeleton 1 Introduction 2 Method 2.1 Digital Humans Motion (DHM) 2.2 Exoskeleton Modeling 2.3 Optimization Methodology 3 Conclusion References Optimizing Active Spinal Exoskeletons to Minimize Low Back Loads 1 Introduction 2 Methods 3 Results and Discussion 4 Conclusions References LSTM and CNN Based IMU Sensor Fusion Approach for Human Pose Identification in Manual Handling Activities 1 Introduction 2 Related Work 3 Model Architecture and Description 4 Model Implementation 5 Results 6 Analysis of Results 7 Conclusions References Visual Feedback Strategy Based on Serious Games for Therapy with T-FLEX Ankle Exoskeleton 1 Introduction 2 Materials and Methods 2.1 Visual Interface Design 2.2 User Movement Intention 2.3 Preliminary Validation 3 Results and Discussion 4 Conclusions and Future Works References The Utilization Effects of Powered Wearable Orthotics in Improving Upper Extremity Function in Persons with SCI: A Case Study 1 Introduction 2 Material and Methods 2.1 Upper Extremity Robotic Orthosis (MyoMo) 2.2 Experimental Procedure 3 Results 4 Discussion and Conclusions References Exoskeletons in Industry 4.0: Open Challenges and Perspectives Using a Spring-Loaded Upper-Limb Exoskeleton in Cleaning Tasks: A Preliminary Study 1 Introduction 2 Material and Methods 3 Results 4 Discussion References Methods for User Activity Recognition in Exoskeletons 1 Introduction 2 Material and Methods 2.1 Exoskeleton 2.2 Sensors and Measures 2.3 Data Acquisition 3 Results 4 Conclusion References A Topology-Optimization-Based Design Methodology for Wearable Robots: Implementation and Application 1 Introduction 2 Background 3 Topology Optimization Process 3.1 Design Space 3.2 Objective Function and Optimization Constraints 3.3 Optimization Algorithm 4 Results and Conclusion References Lifting and Carrying: Do We Need Back-Support Exoskeleton Versatility? 1 Introduction 2 Materials and Methods 3 Results 4 Discussion 5 Conclusion References Exoskeletons Introduction in Industry. Methodologies and Experience of Centro Ricerche Fiat (CRF) 1 Introduction 2 Methodology and Instruments 2.1 Objectives 2.2 Methodology 2.3 Procedures and Instruments 2.4 Results 3 Conclusion References Quantifying the Impact of a Lower Limb Exoskeleton on Whole-Body Manipulation Tasks. Methodological Approach and First Results 1 Introduction 2 Materials and Methods 2.1 H2 Exoskeleton 2.2 Testbed 2.3 Experimental Protocol 2.4 Testing Procedure 2.5 Movement Quantification: Metrics 3 Results 3.1 Range of Movement 3.2 Postural Instability 3.3 Performance Time 3.4 Spinal Loads Estimation 3.5 Smoothness 4 Discussion 5 Conclusions References Assessment of Exoskeleton Related Changes in Kinematics and Muscle Activity 1 Introduction 2 Material and Methods 2.1 Lumbar Support—Laevo 2.2 Upper Limb Support—MATE 3 Results and Discussion 3.1 Lumbar Support—Laevo 3.2 Shoulder Support—MATE 4 Conclusion References Exoskeletons for Military Applications Exoskeletons for Military Logistics and Maintenance 1 Introduction 2 Method 3 Results 4 Discussion 5 Conclusion References Aerial Porter Exoskeleton (APEX) for Lifting and Pushing 1 Introduction 2 Design Goals 3 Design 4 Testing 5 Conclusion References Exoskeletons for Unarmed Military Use: Requirements and Approaches to Support Human Movements Using an Example of Protection Against Unknown CBRN Dangers 1 Introduction 2 General Analysis 2.1 Field Analysis 2.2 Laboratory Study 3 General Results 4 Requirements for the Use of Exoskeletons in Combination with CBRN Protective Gear 5 Conclusion References Analysis of a Passive Ankle Exoskeleton for the Reduction of the Metabolic Costs During walking—A Preliminary Study 1 Introduction 2 Materials and Methods 3 Results and Discussion 4 Conclusion References A Multivariate Analysis for Force Element Selection in Passive Ankle Exoskeletons 1 Introduction 2 Methods 3 Results and Discussion 4 Conclusion References Application Industrial Exoskeletons On the Design of Kalman Observers for Back-Support Exoskeletons 1 Introduction 2 The Dynamic Model 3 State Observer Design 4 Implementation of the State Observer and Performance Analysis 5 Conclusion References Subjective Perception of Shoulder Support Exoskeleton at Groupe PSA 1 Introduction 2 Development 2.1 Scope and Planning 2.2 Subjective Perception Methods 2.3 Phase 1V—In-Line Test (Real Production) 3 Results and Discussion 4 Conclusion References MH-Forces, a Motion-Capture Based Method to Evaluate Workplace Ergonomics: Simulating Exoskeleton Effects 1 Introduction 2 MH-Forces 2.1 Definition of Risk in MH-Forces 2.2 Motion Capture and Kinematics 2.3 Calculating Kinetics 2.4 Calculating Risks 2.5 Simulating Exoskeleton Effects 3 Discussion and Conclusions References A Methodology to Assess the Effectiveness and the Acceptance of the Use of an Exoskeleton in a Company 1 Introduction 2 Materials and Methods 3 Results 3.1 Phase 1—Selection of the Exoskeleton 3.2 Phase 2—Simulation (Off-line) 3.3 Phase 3—In-line Trials 3.4 Phase 4—Implementation 4 Discussion 5 Conclusion References Objective Techniques to Measure the Effect of an Exoskeleton 1 Introduction 2 Measuring Techniques 2.1 Surface Electromyography 2.2 3D Motion Capture 2.3 Dynamometry for the Biomechanical Analysis 3 Challenges 4 Conclusion References Designing an Integrated Tool Set Framework for Industrial Exoskeletons 1 Introduction 2 The Framework Structure 2.1 User-Command Interface (UCI) 2.2 Monitor-System Interface (MSI) 2.3 Gain-System Interface (GSI) 3 Hardware-Software Interfaces Architecture 4 Application Study 5 Future Development 6 Conclusion References Benchmarking Wearable Robots Wearable Robots Benchmarking: Comprehending and Considering User Experience 1 Introduction 2 User Experience 3 Potential Metrics 4 Human-Centered Benchmarking 5 Conclusions References Performance Indicators of Humanoid Posture Control and Balance Inspired by Human Experiments 1 Introduction 2 Tests and Performance Indicators 3 Conclusion References Lower-Limbs Exoskeletons Benchmark Exploiting a Stairs-Based Testbed: The STEPbySTEP Project 1 Testbed Description 2 Metrics Definition 2.1 Physical Interaction Metrics 2.2 Biomechanical Metrics 2.3 Human Factors Metrics References Towards a Unified Terminology for Benchmarking Bipedal Systems 1 Introduction 2 Terminology 2.1 Benchmarking Protocol 2.2 Experimentation-Related Concepts 2.3 Computation of Metrics 3 Conclusion References A Methodology for Benchmarking Force Control Algorithms 1 Introduction 2 Forecast Project 2.1 Simulation Software 2.2 Evaluation Software 3 Hardware Testbench 4 Conclusion References Limitation of Ankle Mobility Challenges Gait Stability While Walking on Lateral Inclines 1 Introduction 2 Methods 2.1 Participants, Equipment and Protocol 2.2 Outcome Metrics 3 Results 4 Discussion and Conclusion References A Workaround for Recruitment Issues in Preliminary WR Studies: Audio Feedback and Instrumented Crutches to Train Test Subjects 1 Introduction 2 Materials and Methods 2.1 Experimental Setup 2.2 Experimental Protocol 2.3 Data Analysis 3 Results 4 Discussion References 3D Relative Motion Assessment in Lower-Limb Exoskeletons: A Case of Study with AGoRA Exoskeleton 1 Introduction 2 Methods 3 Results and Discussion 4 Conclusion References Robotic Rehabilitation in Cerebral Palsy: A Case Report 1 Introduction 2 Material and Methods 2.1 Subject 2.2 Treatment 2.3 Assessment Method 3 Results 3.1 Regarding the Data Collected by Ekso 3.2 Spatio-Temporal Parameters 3.3 Kinematic Analysis 3.4 Gait Deviation Index (GDI) 3.5 Patient’s Feedback 4 Discussion 5 Conclusion References Test Method for Exoskeleton Locomotion on Irregular Terrains: Testbed Design and Construction 1 Introduction 2 Material and Methods 3 Results 4 Discussion 5 Conclusion References Small–Medium Enterprises in the Wearable Robotics Field: Tools and Opportunities to Create a Successful Company Private/Public Funding Strategies for Interactive Robotics Companies 1 Introduction 2 Private Fund Raising 2.1 How to Identify the Opportunity 2.2 Why Investors Invest 2.3 Some Private Funding Sources 3 Public Fund Raising in H2020 and Horizon Europe 3.1 Robotics in LEIT-ICT Program 3.2 Robotics in NMBP and FET Programs 3.3 Robotics in EIC PILOT and Societal Challenges Programs 4 Conclusion References RobotUnion Project: Accelerating Startups in Robotics 1 Introduction 2 Value Proposition for Startups 3 Developed Work 3.1 WP1 Community Building and Marketplace 3.2 WP2 Open Call Management and Beneficiaries Selection 3.3 WP3 Research and Product Development 3.4 WP4 Live Due Diligence (Business Ignition) 3.5 WP5 Pre-seed Round and Corporate Brokerage 3.6 WP6 Go-To-Market and Sustainability Plan 4 Conclusion References Starting Up a Surgical Robotics Company: The Case of Kirubotics 1 Introduction 2 Description of the Device 3 The Quest for Funding 3.1 National Funding (Public and Private) 3.2 Public European Funding 4 Market Analysis 5 Conclusion References Redesigning Tax Incentives for Inclusive and Green Robotics in the European Union Reconstruction 1 Introduction 2 Materials and Methods 2.1 Results 2.2 The Court of Justice of the European Union 2.3 The Spanish Courts 3 Discussion 4 Conclusion References