This study presents the validation of the Greek translation of the Godspeed Questionnaire Series (GQS) through an interactive workshop. Data were collected from 94 participants who assessed seven different wearable robotic devices in person and online. The validation examined psychometric characteristics including internal consistency reliability and factor structure preservation. The Greek translation successfully adapted semantic differentials while achieving equivalent performance compared to the original English version. Cross-language equivalence was maintained across most dimensions. All subscales demonstrated significant discriminative ability between robotic devices, validating the Greek GQS as a reliable instrument for human-robot interaction research and user assessment in wearable robotics applications.

This paper presents the design and development of a highly articulated, continuum, wearable, fabric-based Soft Poly-Limb (fSPL). This fabric soft arm acts as an additional limb that provides the wearer with mobile manipulation assistance through the use of soft actuators made with high-strength inflatable fabrics. In this work, a set of systematic design rules is presented for the creation of highly compliant soft robotic limbs through an understanding of the fabric based components behavior as a function of input pressure. These design rules are generated by investigating a range of parameters through computational finite-element method (FEM) models focusing on the fSPL's articulation capabilities and payload capacity in 3D space. The theoretical motion and payload outputs of the fSPL and its components are experimentally validated as well as additional evaluations verify its capability to safely carry loads 10.1x its body weight, by wrapping around the object. Finally, we demonstrate how the fully collapsible fSPL can comfortably be stored in a soft-waist belt and interact with the wearer through spatial mobility and preliminary pick-and-place control experiments.

This paper presents the design of a soft ankle-foot orthosis (AFO) exosuit to aid natural gait restoration for individuals suffering from foot drop. The sock-like AFO is comprised of soft actuators made from fabric-based, thermally-bonded nylon and designed to be worn over the users shoes. The system assists dorsiflexion during swing phase of the gait cycle utilizing a contracting soft actuator, and provides ankle joint proprioception during stance with a variable stiffness soft actuator. A computational model is developed using finite element analysis to optimize the performance characteristics of the fabric actuators prior to fabrication, maximize contraction, and minimize overall volume. The dorsiflexion actuator is able to achieve a linear tensile force of 197 N at 200 kPa. The variable stiffness actuator generates up to 1. 2 Nm of torque at the same pressure. The computational model and soft AFO are experimentally validated and with a healthy participant through kinematic and electromyography studies. When active the AFO is capable of reducing by 13.3% the activity of the muscle responsible for ankle dorsiflexion during the swing phase.

In this paper, we present the design, fabrication, and evaluation of robust, fabric-reinforced textile actuators, which are capable of performing a variety and combination of motions, such as axial extension, radial expansion, bending, and twisting along its central axis. A simple fabrication procedure using a combination of lamination and sewing is described. The relationship between the fabric reinforcement characteristics and the actuator deformation is studied and experimentally verified. Multi-segment actuators can be created by tailoring different sections of fabric-reinforcements together in order to generate combination of motions to perform specific tasks. We demonstrate this by designing an anthropomorphic soft robotic hand and providing preliminary evaluations on grasping daily living objects of various size and shapes.

This paper investigates the design of a soft elbow exosuit capable of providing supplemental lifting assistance by reducing muscle activity of the bicep muscle. The aim is to improve the efficiency and endurance of workers who are tasked with repetitive lifting. The design consists of an array of pneumatically pressurized soft actuators, which are encased in nylon fabric that allows for a high force-to-weight ratio of 211.SN/g. An analytical model governing the bending behavior of two consecutive actuators and torque generated by the exosuit is developed, with test results showing less than 10% error from the theoretical model. An elbow joint torque value of 27.6N.m is achieved at 300kPa, which is comparable to the 30N.m maximum set by OSHA requirements in the USA. Further testing with a healthy participant is performed using surface electromyography (sEMG) sensors and a motion capture system to assess the capabilities of the exosuit to provide active assistance to the bicep during isometric and concentric contractions. Measurable assistance to lifting is observed with minimal obstruction to the user's range of motion for all experiments.

This paper presents the design, development and preliminary evaluation of a soft-inflatable exosuit for knee rehabilitation. Soft-inflatable actuators made of heat-sealable thermoplastic polyurethane (TPU) materials are fabricated in two different beam-like structures (I and O cross-section actuators) and mechanically characterized for their torque performance in knee-extension assistance. The fabrication procedure of both types of actuators is presented as well as their integration into a lightweight, low-cost and body-conforming interface. To detect the activation duration of the device during the gait cycle, a soft-silicone insole with embedded force-sensitive resistors (FSRs) is used. In evaluation studies, the soft-inflatable exosuit device is tested for its ability to reduce muscle activity during the swing phase of the knee. Using sEMG (surface electromyography) sensors, the rectus femoris muscle group of a healthy individual is recorded while walking on a treadmill at a constant speed, with and without the soft device. Preliminary testing presents a promising 7% reduction in muscle activity and demonstrates the applicability of the soft-inflatable exosuit in knee rehabilitation scenarios.

This paper presents advancements in the design of a portable, soft robotic glove for individuals with functional grasp pathologies. The robotic glove leverages soft material actuator technology to safely distribute forces along the length of the finger and provide active flexion and passive extension. These actuators consist of molded elastomeric bladders with anisotropic fiber reinforcements that produce specific bending, twisting, and extending trajectories upon fluid pressurization. In particular, we present a method for customizing a soft actuator to a wearer's biomechanics and demonstrate in a motion capture system that the ranges of motion (ROM) of the two are nearly equivalent. The active ROM of the glove is further evaluated using the Kapandji test. Lastly, in a case study, we present preliminary results of a patient with very weak hand strength performing a timed Box-and-Block test with and without the soft robotic glove.

Soft fluidic actuators consisting of elastomeric matrices with embedded flexible materials are of particular interest to the robotics community because they are affordable and can be easily customized to a given application. However, the significant potential of such actuators is currently limited as their design has typically been based on intuition. In this paper, the principle of operation of these actuators is comprehensively analyzed and described through experimentally validated quasi-static analytical and finite-element method models for bending in free space and force generation when in contact with an object. This study provides a set of systematic design rules to help the robotics community create soft actuators by understanding how these vary their outputs as a function of input pressure for a number of geometrical parameters. Additionally, the proposed analytical model is implemented in a controller demonstrating its ability to convert pressure information to bending angle in real time. Such an understanding of soft multimaterial actuators will allow future design concepts to be rapidly iterated and their performance predicted, thus enabling new and innovative applications that produce more complex motions to be explored.

This paper presents preliminary results for the design, development and evaluation of a hand rehabilitation glove fabricated using soft robotic technology. Soft actuators comprised of elastomeric materials with integrated channels that function as pneumatic networks (PneuNets), are designed and geometrically analyzed to produce bending motions that can safely conform with the human finger motion. Bending curvature and force response of these actuators are investigated using geometrical analysis and a finite element model (FEM) prior to fabrication. The fabrication procedure of the chosen actuator is described followed by a series of experiments that mechanically characterize the actuators. The experimental data is compared to results obtained from FEM simulations showing good agreement. Finally, an open-palm glove design and the integration of the actuators to it are described, followed by a qualitative evaluation study.

This paper presents the prototype design and development of a miniature MR-compatible fiber optic force sensor suitable for the detection of force during MR-guided cardiac catheterization. The working principle is based on light intensity modulation where a fiber optic cable interrogates a reflective surface at a predefined distance inside a catheter shaft. When a force is applied to the tip of the catheter, a force sensitive structure varies the distance and the orientation of the reflective surface with reference to the optical fiber. The visual feedback from the MRI scanner can be used to determine whether or not the catheter tip is normal or tangential to the tissue surface. In both cases the light is modulated accordingly and the axial or lateral force can be estimated. The sensor exhibits adequate linear response, having a good working range, very good resolution and good sensitivity in both axial and lateral force directions. In addition, the use of low-cost and MR-compatible materials for its development makes the sensor safe for use inside MRI environments.

This paper presents a novel approach of performing artificial tactile sensing based on the deployment of prismatic-tip optical fibers. The primary principle of the sensing schemes relies on light intensity modulation for detecting the deformation of an elastic element experiencing a force load. By measuring the change of light signal intensity, the magnitude of the applied force can be determined. The force distribution over an area can be evaluated using an array of optical fibers. The tactile sensor array prototype described in this paper demonstrates its capability and feasibility in performing tactile sensing and force measurement over a range of approximately 0 to 4.8 N. Due to its simple sensing structure, it is easy to manufacture and the sensor can be miniaturized for applications in dexterous robotic handling.

Minimally Invasive Surgery (MIS) and robot surgery have opened new ways to perform surgical operations in a safer and simultaneously faster manner. In an effort to follow this minimally invasive trend, this paper presents the feasibility study of a novel fibre-optic catheter prototype. This prototype sensor has the ability to measure forces from the sides and tip. Classification of forces from multiple positions on a catheter provides valuable information for safe navigation inside the vasculature and heart of a patient. This sensor employs two fibre-optic schemes, one for the tip and one for the sides of the catheter; it is made entirely of plastic, making it compatible with Magnetic Resonance Imaging (MRI). A test bench was used to determine the linearity coefficients during static loading. These initial experiments on the prototype gave rise to an ideal linear force response coupled with low hysteresis. Finally, an experiment which tries to simulate the human blood vessel achieved satisfying results during dynamic sensor movement.

This paper presents a novel air-cushion tactile sensor for minimally invasive surgery that is fully MRI (magnetic resonance imaging) compatible. The proposed sensor is designed to detect tissue abnormalities within soft tissue surfaces. This is achieved by rolling over soft tissue in a virtually frictionless manner due to the design of the sensor in which the sensing element, a sphere, rests on a cushion of air. This design allows for rapid acquisition of tactile and mechanical properties of large areas of soft tissue. Laboratory experiments are carried out to show its feasibility as a tactile sensor for MIS and its behaviour under loading. The outcomes of the experiments illustrate the sensor's capability and potential as a tactile sensor for MIS. These results are discussed and future work is outlined.