A Study on Classification System for Development of Wearable Robot Design

In this paper, we present a kineto-static analysis on a wrist rehabilitation robot to compensate for joint misalignment between human and robot joints. Since joint misalignment has proved to generate user–device interaction forces, which reduce the comfort and safety of the wearable devices and limit the user’s willingness to use it. The use of compliance and the addition of passive joints for joint misalignment compensation are discussed. In order to study the effect of the initial offset, we find that the initial offset in the direction perpendicular to the forearm causes a larger unwanted force. In addition, the use of the softest compliance can minimize unwanted force by 38% compared to the case without compliance. Furthermore, the effect of the addition of passive joints to the exoskeleton is investigated. From the analysis results, the soft part of the human being is regarded as a passive joint with the ability to compensate for joint misalignment. Moreover, the influence of the soft characteristics of human limbs should be considered when designing a wearable robot. This soft property, causing the movement of the braces, results in reducing the angular range of the wrist. Through the analysis results, we provide effective ideas for joint misalignment compensation to fulfill a comfortable and safer robot design.

Download Full-text

Implementing Ethical, Legal, and Societal Considerations in Wearable Robot Design

Applied Sciences ◽

10.3390/app11156705 ◽

2021 ◽

Vol 11 (15) ◽

pp. 6705

Author(s):

Alexandra Kapeller ◽

Heike Felzmann ◽

Eduard Fosch-Villaronga ◽

Kostas Nizamis ◽

Ann-Marie Hughes

Keyword(s):

Societal Implications ◽

User Needs ◽

Robot Design ◽

Design Development ◽

Wearable Robot ◽

Specific Approach ◽

Domain Specific ◽

Wearable Robots ◽

Development Teams ◽

Practical Guidance

Ethical, legal and societal implications (ELSI) in the development of wearable robots (WRs) are currently not explicitly addressed in most guidelines for WR developers. Previous work has identified ELSI related to WRs, e.g., impacts on body and identity, ableism, data protection, control and responsibilities, but translation of these concerns into actionable recommendations remains outstanding. This paper provides practical guidance for the implementation of ELSI in WR design, development and use. First, we identify the need for domain-specific recommendations against the context of current ELSI guidance. We then demonstrate the feasibility and usefulness of taking a domain-specific approach by successively transforming currently identified ELSI into an action-guiding flowchart for integration of ELSI specific to the different stages of WR development. This flowchart identifies specific questions to be considered by WR development teams and suggests actions to be taken in response. By tailoring ELSI guidance to WR developers, centring it on user needs, their relation to others and wider society, and being cognizant of existing legislation and values, we hope to help the community develop better WRs that are safer, have greater usability, and which impact positively on society.

Download Full-text

International Research and Variation in Views of Ethnicity

Perspectives on Global Issues in Communication Sciences and Related Disorders ◽

10.1044/gics2.2.66 ◽

2012 ◽

Vol 2 (2) ◽

pp. 66-72

Author(s):

Ella Inglebret ◽

Amy Skinder-Meredith ◽

Shana Bailey ◽

Carla Jones ◽

Ashley France

Keyword(s):

United States ◽

Classification System ◽

International Research ◽

The United States ◽

Research Articles ◽

Journal Articles ◽

Research Participants ◽

The Past ◽

International Scale ◽

Publication Patterns

The authors in this article first identify the extent to which research articles published in three American Speech-Language-Hearing Association (ASHA) journals included participants, age birth to 18 years, from international backgrounds (i.e., residence outside of the United States), and go on to describe associated publication patterns over the past 12 years. These patterns then provide a context for examining variation in the conceptualization of ethnicity on an international scale. Further, the authors examine terminology and categories used by 11 countries where research participants resided. Each country uses a unique classification system. Thus, it can be expected that descriptions of the ethnic characteristics of international participants involved in research published in ASHA journal articles will widely vary.

Download Full-text