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Wearable robots are undergoing a disruptive transition, from the rigid machines that populated the science-fiction world in the early eighties to lightweight robotic apparel, hardly distinguishable from our daily clothes. In less than a decade of development, soft robotic suits have achieved important results in human motor assistance and augmentation. In this paper, we start by giving a definition of soft robotic suits and proposing a taxonomy to classify existing systems. We then critically review the modes of actuation, the physical human-robot interface and the intention-detection strategies of state of the art soft robotic suits, highlighting the advantages and limitations of different approaches. Finally, we discuss the impact of this new technology on human movements, for both augmenting human function and supporting motor impairments, and identify areas that are in need of further development.
Soft robots promise improved safety and capability over rigid robots when deployed in complex, delicate, and dynamic environments. However, the infinite degrees of freedom and highly nonlinear dynamics of these systems severely complicate their model
This paper presents an offset-free model predictive controller for fast and accurate control of a spherical soft robotic arm. In this control scheme, a linear model is combined with an online disturbance estimation technique to systematically compens
The ongoing surge in applications of robotics brings both opportunities and challenges for the fifth-generation (5G) and beyond (B5G) of communication networks. This article focuses on 5G/B5G-enabled terrestrial robotic communications with an emphasi
Transfer learning is a popular approach to bypassing data limitations in one domain by leveraging data from another domain. This is especially useful in robotics, as it allows practitioners to reduce data collection with physical robots, which can be
The objective of this paper is to present a systematic review of existing sensor-based control methodologies for applications that involve direct interaction between humans and robots, in the form of either physical collaboration or safe coexistence.