the international symposium on wearable...

The International Symposium on

Wearable Robotics

Preliminary Full Program


Wearable Robotics

Tuesday18

Tu-S1 ClinicalFocusonRehabilitationandAssistiveWRsDay TimeTu18 9.40-13.00

PaperID Title Authors

55 Clinicalevaluationofasocket-readynaturallycontrolledmultichannelupperlimbprostheticsystem

IvanVujaklija,SebastianAmsuess,AidanRoche,DarioFarinaandOskarAszmann

34 EvaluationofaRoboticExoskeletonforGaitTraininginAcuteStroke:Acasestudy GhaithAndrowisandKarenJ.Nolan

36 WearableexoskeletonassistedrehabilitationinMultipleSclerosis:FeasibilityandExperience

Shuo-HsiuChang,MarcieKern,TaimoorAfzal,Shih-ChiaoTseng,JohnLincolnandGerard

Francisco

45 ExoskeletonsforRehabilitation&PersonalMobility:CreatingClinicalEvidence ArunJayaramanandWilliamRymer

67 Lowerlimbwearablesystemsformobilityandrehabilitationchallenges:clinicalfocus

FedericaTamburella,MarcellaMasciullo,IolandaPisotta,NevioLuigiTagliamonteandMarco

Molinari

OnLessonslearnedfrompilotclinicaltrialswithWRandfutureprospects GerardFrancisco

80 Poweredexoskeletonsforbipedallocomotionafterspinalcordinjury:ChallengesandOpportunities JoseContreras

Tu-S2 EmergingTechnologiesinWRsDay TimeTu18 15.00-18.30


7 PassiveImpedanceControlofSeriesElasticActuatorsUsingAccelerationFeedback

AndreaCalanca,RiccardoMuradoreandPaoloFiorini

12 Kineticenergyrecoveryinhumanjoints:theFlywheel-InfinitelyVariableTransmissionactuator

RobertaAlò,FrancescoBottiglioneandGiacomoMandritta

17 ACompliantLightweightandAdaptableActiveAnkleFootOrthosisforRoboticRehabilitation

MartaMoltedo,TomislavBacek,KevinLanglois,KarenJunius,BramVanderborghtandDirk

Lefeber

25 ANovelShoulderMechanismwithaDoubleParallelogramLinkageforUpper-BodyExoskeletons SimonChristensenandShaopingBai

28 ASoftRoboticExtra-FingerandArmSupporttoRecoverGraspCapabilitiesinChronicStrokePatients

IrfanHussain,GionataSalvietti,GiovanniSpagnoletti,DavidCioncoloni,SimoneRossiand

DomenicoPrattichizzo

39 AQuasi-PassiveKneeExoskeletontoAssistDuringDescentEmilyRogers,PanagiotisPolygerinos,StephenAllen,FaustoPanizzolo,ConorWalshandDonal

Holland

48 Wearablesensoryapparatusformulti-segmentsystemorientationestimationwithlong-termdriftandmagneticdisturbancecompensation

SebastjanŠlajpah,RomanKamnikandMarkoMunih

78 AportableActivePelvisOrthosisforambulatorymovementassistance

AndreaParri,TingfangYan,FrancescoGiovacchini,MarioCortese,MarcoMuscolo,

MatteoFantozzi,RaffaeleMolinoLovaandNicolaVitiello


Wearable Robotics

Wednesday19

W-S3 SoftWearableRoboticsDay TimeWe19 9.40-13.00


6 XoSoft-Avisionforasoftmodularlowerlimbexoskeleton

JesusOrtiz,EduardoRocon,ValeriePower,AdamDeEyto,LeonardO'Sullivan,MarkusWirz,ChristophBauer,SamuelSchülein,KonradS.

Stadler,BarbaraMazzolai,WouterTeeuw,ChrisBaten,CorienNikamp,JaapBuurke,Freygardur

ThorsteinssonandJeanetteMüller

57 OntheEfficacyofIsolatingShoulderandElbowMovementswithaSoft,Portable,andWearableRoboticDevice

ZahraKadivar,ChristopherBeck,RogerRovekamp,MarciaO'MalleyandCharlesJoyce

74 DesignImprovementofaPolymer-BasedTendon-DrivenWearableRoboticHand(Exo-GlovePoly)

HaeminLee,BrianByunghyunKang,HyunkiInandKyu-JinCho

75 Affectivetouchandlowpowerartificialmusclesforrehabilitativeandassistivewearablesoftrobotics

JonathanRossiter,EspenKnoopandYuichiNakamura

37 EvaluationofForceTrackingControllerwithSoftExosuitforHipExtensionAssistance

HaoSu,YeDing,IgnacioGaliana,JozefienSpeeckaert,NikosKaravas,PhilippeMalcolm,

ChristopherSiviy,ConorJ.Walsh

ICNR-102* MAXX:MobilityAssistingteXtileeXoskeletonthatExploitsNeuralControlSynergies KaiSchmidtandRobertRiener

ICNR-161* SoftPrintablePneumaticsforWristRehabilitation HongKaiYap,HuiYongNgandChenHuaYeow

ICNR-175* UseofanActuatedGlovetoFacilitateHandRehabilitationafterStroke NingYuan,KellyTheilbar,Li-QunZhangandDerekKamper

ICNR-212* DesignandPreliminaryTestingofaSoftExosuitforAssistingElbowMovementsandHandGrasping

MicheleXiloyannis,LeonardoCappello,KhanDinhBinh,ChrisWilsonAntuvanandLorenzoMasia

*ThesecontributionsaresharedwithICNRsessionT3-W-S2:“Softwearablerobotics:potentialforneurorehabilitation”

T-S7 NeuralInterfacingofWRsDay TimeWe19 15.00-16.30


30 EndogenousControlofPoweredLower-limbExoskeleton KyuhwaLee,DongLiu,LaetitiaPerroud,RicardoChavarriagaandJoséMillán

31 NaturalUser-ControlledAmbulationofLowerExtremityExoskeletonsforIndividualswithSpinalCordInjury

KiranKarunakaran,GhaithAndrowisandRichardFoulds

62 Real-TimeModelingforLowerLimbExoskeletons GuillaumeDurandau,MassimoSartori,MagdoBortole,JuanMoreno,JoséPonsandDarioFarina

71 AnalysisofSteadyStateVisualEvokedPotentialsforLowerLimbExoskeletonControlbasedonBrain-ComputerInterface

No-SangKwak,Klaus-RobertMüllerandSeong-WhanLee

81 TowardsEverydaySharedControlofLowerLimbExoskeletons TomCarlson

T-S8 BiomechanicsandNeurophysiologicalstudieswithWRs

Day TimeWe19 17.00-18.30


19 Joint-levelresponsestocounteractperturbationsscalewithperturbationmagnitudeanddirection

MarkVlutters,EdwinH.F.vanAsseldonkandHermanvanderKooij

26 MetabolicEnergyConsumptioninaBox-LiftingTask:AParametricStudyontheAssistiveTorque

MohammadSharifShourijeh,MoonkiJungandMichaelDamsgaard

44 AnalysisoftheMovementVariabilityinDanceActivitiesusingWearableSensors

MiguelXochicale,ChrisBaberandMouradOussalah


Wearable Robotics

Thursday20

T-S6 NewdevelopmentsinWearableRehabilitationRoboticsDay TimeTh20 9.40-13.00


8 RealtimecomputationofCentroidalMomentumfortheuseasastabilityindexapplicabletohumanwalkingwithexoskeleton

JeHyungJung,LidwineVanOpheusden,PierreBarralonandJanVeneman

35 Aversatileneuromuscularexoskeletoncontrollerforgaitassistance:apreliminarystudyonspinalcordinjurypatients

AmyWu,FlorinDzeladini,TychoBrug,FedericaTamburella,NevioTagliamonte,EdwinvanAsseldonk,HermanvanderKooijandAuke

Ijspeert

51 IntroducingaModular,PersonalizedExoskeletonforAnkleandKneeSupportofIndividualswithaSpinalCordInjury

CoryMeijneke,HermanvanderKooij,ShiqianWangandVictorSluiter

54 Towardsexoskeletonswithbalancecapacities HermanvanderKooij,EdwinvanAsseldonkandMarkVlutters

79 EMG-baseddetectionofuser'sintentionsforhuman-machinesharedcontrolofanassistiveupper-limbexoskeleton

AlessandroAccogli,LorenzoGrazi,SimonaCrea,AlessandroPanarese,JacopoCarpaneto,Nicola

VitielloandSilvestroMicera

ICNR-30* Amodelofhumannon-steppingposturalresponsesasthebasisforabiomimeticcontrolstrategyforrobot-assistedbalance

MaartenAfschrift,JorisDeSchutter,IlseJonkersandFriedlDeGroote

ICNR-67* Optimalcontrolofneuromuscularhumanmodelsforthedesignofwearableassistivedevices

ManishSreenivasa,MatthewMillard,PaulMannsandKatjaMombaur

ICNR-170* Combininga3Dreflexbasedneuromuscularmodelwithastateestimatorbasedoncentralpatterngenerators

TychoBrug,FlorinDzeladini,AmyWuandAukeIjspeert

ICNR-214* NeuromusculoskeletalModelingusingSubject-SpecificMuscleParameters

MassimoSartori,JonasRubenson,DavidLloyd,DarioFarinaandFaustoPanizzolo

ICNR-263* AnInVitroApproachforDirectlyObservingMuscle-TendonDynamicswithParallelElasticMechanicalAssistance GregorySawickiandBenjaminRobertson

ICNR-282* TowardBalanceRecoverywithActiveLegProsthesesusingNeuromuscularModelControl HartmutGeyer,NitishThatteandHeleiDuan

*ThesecontributionsaresharedwithICNRsessionT3-T-S6:“NeuromechanicalModelingforWearableAssistiveTechnologies”W-S4 LegalFramework,standardizationandethicalissuesinWRs

Day TimeTh20 15.00-16.30


64 SafetystandardizationofWearableRobots–theneedfortestingmethods JanF.Veneman

65 Thepotentialandacceptanceofexoskeletonisinindustry MichieldeLooze,FrankKrauseandLeonardO'Sullivan

82 WearableRobots:aLegalAnalysis AndreaBertolini

83 AVerificationMethodforTestingAbrasioninTheUseofRestraintTypePersonalCareRobots YojiYamada

W-S5 BenchmarkinginWRsandrelatedcommunities

Day TimeTh20 17.00-18.30


4 KinematicComparisonofGaitRehabilitationwithExoskeletonandEnd-effectorDevices Byung-WooKoandWon-KyungSong

41 EvaluatingtheGaitofLowerLimbProsthesisUsers StephanieCarey,KyleB.Reed,AmandaMartori,TyagiRamakrishnanandRajivDubey

69 SomeconsiderationsonbenchmarkingofWearableRobotsforMobility JanVeneman

73 Benchmarkingdataforhumanwalkingindifferentscenarios KatjaMombaur,DeboraCleverandAlexanderSchubert

77 Clinicalgaitassessmentinrelationtobenchmarkingrobotlocomotion JaapBuurke,JanVenemanandDiegoTorricelli


Wearable Robotics

Friday21

F-S9 SymbioticControlofWRsDay TimeFr21 9.40-13.00


1 AttentionlevelmeasurementduringexoskeletonrehabilitationthroughaBMIsystem

ÁlvaroCosta,GuillermoAsín,JoséGonzález-Vargas,EduardoIáñez,JuanC.Moreno,JoseM.Azorin,AntonioJ.Del-AmaandÁngelGil-Agudo

11 Detectionofsubject’sintentiontotriggertransitionsbetweenseat,standandwalkwithalowerlimbexoskeleton

FernandoTrincado-Alonso,AntonioJ.DelAma-Espinosa,ElisaPiñuela-Martín,SorayaPérez-

Nombela,ÁngelGil-Agudo,GuillermoAsín-Prieto,JoseLuisPonsandJuanC.Moreno

13 TheNewGenerationofCompliantActuatorsforUseinControllableBio-InspiredWearableRobots

TomislavBacek,MartaMoltedo,JoseGonzalez-Vargas,GuillermoAsinPrieto,MariaDelCarmenSanchez-Villamanan,JuanCMorenoandDirk

Lefeber

43 AnEMG-informedModeltoEvaluateAssistanceoftheBiomotCompliantAnkleActuator

ElenaCeseracciu,LucaTagliapietra,JuanC.Moreno,GuillermoAsin,AntonioJ.Del-Ama,

SorayaPérez,ElisaPiñuela,ÁngelGilandMonicaReggiani

56 Tacitadaptabilityofamechanicallyadjustablecomplianceandcontrollableequilibriumpositionactuator,apreliminarystudy

GuillermoAsín-Prieto,ShingoShimoda,JoseGonzalez,MaríaDelCarmenSánchezVillamñán,

JoséL.PonsandJuanC.Moreno

ICNR-90* DynamicOptimizationofAHybridGaitNeuroprosthesistoImproveEfficiencyandWalkingDuration:ASimulationStudy NicholasKirsch,NajiAlibejiandNitinSharma

ICNR-97* PreliminaryExperimentsofanAdaptiveLow-DimensionalControlforaHybridNeuroprosthesis NajiAlibeji,NicholasKirschandNitinSharma

ICNR-125* Thepotentialofinertialsensorsinposture,gaitandcyclingFES-assistance

ChristineAzevedoCoste,BenoitSijobert,ChristianGeny,JérômeFrogerandCharlesFattal

ICNR-155* OnlineMonitoringofMuscleActivityduringWalkingforBio-FeedbackandforObservingtheEffectsofTranscutaneousElectricalStimulation

NathanBunt,JuanMoreno,PhilippMüller,ThomasSeelandThomasSchauer

ICNR-190* WalkingAssistancethroughImpedanceControlofaLower-limbExoskeleton WeiguangHuoandSamerMohammed

*ThesecontributionsaresharedwithICNRsessionT3-F-S8:“FESandwearablerobotsystemsinrehabilitationandassistanceoflocomotion”

F-S10 EmergingApplicationsDomainsofWRs,EmergingTechnologiesinWRs(J.Gancet,M.Ilzkovitz,P.Letier)

Day TimeFr21 15.00-18.30


3 DesignandKinematicAnalysisoftheHanyangExoskeletonAssistiveRobot(HEXAR)forHumanSynchronizedMotion

WansooKim,HojunKim,DonghwanLim,HyungiMoon,andChangsooHan

21 Designandexperimentalevaluationofalow-costroboticorthosisforgaitassistanceinsubjectswithspinalcordinjury

JosepM.Font-Llagunes,DanielClos,UrbanoLugrís,F.JavierAlonsoandJavierCuadrado

24 Apoweredlow-backexoskeletonforindustrialhandling:considerationsoncontrols

StefanoToxiri,JesúsOrtiz,JawadMasood,JorgeFernández,LuisA.MateosandDarwinG.Caldwell

40 EfficientLowerLimbExoskeletonforHumanMotionAssistance NazimMir-Nasiri

50 ActiveSafetyFunctionsforIndustrialLowerBodyExoskeletons:ConceptandAssessment

JawadMasood,LuisA.Mateos,JesusOrtiz,StefanoToxiri,LeonardO'SullivanandDarwin

Caldwell

53 SOLEUS:AnkleFootOrthosisforSpaceCountermeasurewithImmersiveVirtualReality

PierreLetier,GuillaumeFau,UweMittag,JochenZange,JoernRittweger,MoonkiJung,Joe

McIntyreandArnaudRunge

63 SpinalExoskeletalRobotforLowBackPainPreventionandVocationalReintegration JanBabic


Wearable Robotics

Posters

P2.ThomasSugar,EduardoFernandez,DarrenKinney,KevinHollanderandSangramRedkar,HeSA,HipExoskeletonforSuperiorAssistance.P18.LauraDeRijcke,MatthiasNäf,CarlosRodriguez-Guerrero,DirkLefeber,JanBabic,BernardGraimann,JaapvanDieën,HanHoudijk,KatjaMombaur,MichaelRussoldandNejcSarabon,SPEXOR:TowardsaPassiveSpinalExoskeleton.P29.NikosKaravas,JinsooKim,IgnacioGaliana,YeDing,AdamCouture,DianaWagner,AsaEckert-ErdheimandConorWalsh,AutonomousSoftExosuitforHipExtensionAssistance.P38.MartinGrimmer,SangjunLee,BrendanT.Quinlivan,PhilippeMalcolm,DeniseM.RossiandConorJ.Walsh,ComparisonofAnkleMomentInspiredandAnklePositivePowerInspiredControllersforaMulti-articularSoftExosuitforWalkingAssistance.P52.TairaMiyatake,SangjunLee,IgnacioGaliana,DeniseM.Rossi,ChristopherSiviy,FaustoA.PanizzoloandConorJ.Walsh,Biomechanicalanalysisandinertialsensingofanklejointwhilesteppingonanunanticipatedbump.

P16.MadelineCorriganandRichardFoulds,ANovelApproachtoIncreaseUpperExtremityActiveRangeofMotionforIndividualswithDuchenneMuscularDystrophyUsingAdmittanceControl:APreliminaryStudy.P32.PeterMichael,GhaithAndrowisandRichardFoulds,ModulationofMuscleToneinCerebralPalsytoEnableUseofExoskeletonsforRehabilitation.P49.ArvindRamanujam,AnnSpungen,PierreAsselin,EricaGarbarini,JohnAugustine,StephenCanton,PeterBarranceandGailFForrest,TrainingResponsetoLongitudinalPoweredExoskeletonTrainingforSCI.

P5.ChrisBaten,ThijsTromperandLeonieZeuge,AdaptiveactivityclassificationthroughHiddenMarkovModelingwithautomatedoptimalinitialization.P27.MatteoBianchi,RobertoConti,FrancescoFanelli,LapoGoverni,EnricoMeli,AlessandroRidolfi,FedericaVannettiandBenedettoAllotta,Designandmotionanalysisofawearableandportablehandexoskeleton.P33.KarolQuirósEspinoza,CarolJiménezQuirós,RaquelMoraMoralesandJosePérezGonzález,Nitiglove:Nitinol-drivenroboticgloveusedtoassisttherapyforhandmobilityrecovery.P66.MasashiSekine,KahoriKita,HiroshiKawahiraandWenweiYu,ProposalofDevicewithSpeed-IncreasingGearforImprovingTrade-offRelationshipinPneumaticArtificialMuscle


Wearable Robotics

P70.PierreLetier,GonzaloRodriguez,GuillaumeFau,ShashankGovindaraj,TorstenSiedel,JeremiGancetandMichelIlzkovitz.3DPrintedArmExoskeletonforTeleoperationandManipulationApplicationsP68.MoonkiJung,GuillaumeFau,PierreLetier,UweMittag,JochenZange,JörnRittwegerandArnaudRunge.MusculoskeletalsimulationofSOLEUSankleexoskeletonforcountermeasureexerciseinspaceP9.SebastianGlowinski,AndrzejBłażejewskiandTomaszKrzyzynski,HumanGaitFeatureDetectionUsingInertialSensorsandWaveletsP10.TomVerstraten,GlennMathijssen,BramVanderborght,DirkLefeber,JoostGeeromsandLouisFlynn,OntheimportanceofamotormodelfortheoptimizationofSEA-drivenprostheticankles.P14.KevinAbbruzzeseandRichardFoulds,Assessmentofa7-DOFHandExoskeletonforNeurorehabilitation.P59.AmberEmmens,ImprovingtheStandingBalanceofPeoplewithSpinalCordInjurythroughtheuseofaPoweredAnkle-FootOrthosis.P72.RafaelMendoza,RogelioSotoandJoseLuisPons.TransparentModeforLowerLimbExoskeleton

P60.Ker-JiunWang,MinguiSunandZhi-HongMao,Human-RobotMutualForceBorrowingandSeamlessLeader-FollowerRoleSwitchingbyLearningandCoordinationofInteractiveImpedance.P15.RokGoljat,TadejPetričandJanBabič,UpperLimbExoskeletonControlforIsotropicSensitivityofHumanArm.

P20.AmalricOrtlieb,MohamedBouriandHannesBleuler,AUTONOMYO:Designchallengesoflowerlimbassistivedeviceforelderlypeople,multiplesclerosisandneuromusculardiseases.P47.RalphMacke,ArvidKeeminkandArnoSteinen,PassiveLowerBackMomentSupportinaWearableLiftingAid:SpringsversusCounterweight.

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