Biosystems & Biorobotics

Volume 27

Series Editor Eugenio Guglielmelli, Laboratory of Biomedical Robotics, Campus Bio-Medico University of Rome, Rome, Italy The BIOSYSTEMS & BIOROBOTICS (BioSysRob) series publishes the latest research developments in three main areas: 1) understanding biological systems from a bioengineering point of view, i.e. the study of biosystems by exploiting engineering methods and tools to unveil their functioning principles and unrivalled performance; 2) design and development of biologically inspired machines and systems to be used for different purposes and in a variety of application contexts. In particular, the series welcomes contributions on novel design approaches, methods and tools as well as case studies on specific bio-inspired systems; 3) design and developments of nano-, micro-, macro- devices and systems for biomedical applications, i.e. technologies that can improve modern healthcare and welfare by enabling novel solutions for prevention, diagnosis, surgery, prosthetics, rehabilitation and independent living. On one side, the series focuses on recent methods and technologies which allow multi- scale, multi-physics, high-resolution analysis and modeling of biological systems. A special emphasis on this side is given to the use of mechatronic and robotic systems as a tool for basic research in biology. On the other side, the series authoritatively reports on current theoretical and experimental challenges and developments related to the “biomechatronic” design of novel biorobotic machines. A special emphasis on this side is given to human-machine interaction and interfacing, and also to the ethical and social implications of this emerging research area, as key challenges for the acceptability and sustainability of biorobotics technology. The main target of the series are engineers interested in biology and medicine, and specifically bioengi- neers and bioroboticists. Volumepublished in the series comprise monographs, edited volumes, lecture notes, as well as selected conference proceedings and PhD theses. The series also publishes books purposely devoted to support education in bioengi- neering, biomedical engineering, biomechatronics and biorobotics at graduate and post-graduate levels. Indexed by SCOPUS, WTI Frankfurt eG, SCImago

More information about this series at http://www.springer.com/series/10421 Juan C. Moreno · Jawad Masood · Urs Schneider · Christophe Maufroy · Jose L. Pons Editors

Wearable Robotics: Challenges and Trends Proceedings of the 5th International Symposium on Wearable Robotics, WeRob2020, and of WearRAcon Europe 2020, October 13–16, 2020 Editors Juan C. Moreno Jawad Masood Cajal Institute, Madrid, Spain Processes and Factories of the Future Centro Tecnológico de Automoción de Urs Schneider Galicia Fraunhofer Institute for Manufacturing Porriño, Spain Engineering and Automation Stuttgart, Germany Christophe Maufroy Fraunhofer Institute for Manufacturing Jose L. Pons Engineering and Automation Shirley Ryan AbilityLab (formerly Stuttgart, Germany Rehabilitation Institute of Chicago) Chicago, IL, USA

ISSN 2195-3562 ISSN 2195-3570 (electronic) Biosystems & Biorobotics ISBN 978-3-030-69546-0 ISBN 978-3-030-69547-7 (eBook) https://doi.org/10.1007/978-3-030-69547-7

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2022 This work is subject to copyright. All rights are solely and exclusively licensed by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, expressed or implied, with respect to the material contained herein or for any errors or omissions that may have been made. The publisher remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

This Springer imprint is published by the registered company Springer Nature Switzerland AG The registered company address is: Gewerbestrasse 11, 6330 Cham, Switzerland Contents

What Should We Expect from Passive Exoskeletons? The Hidden Potential of Energetically Passive Exoskeletons ...... 3 Amanda Sutrisno and David J. Braun Effect of a Back-Assist Exosuit on Logistics Worker Perceptions, Acceptance, and Muscle Activity ...... 7 Matthew B. Yandell, Anna E. Wolfe, Matthew C. Marino, Mark P. Harris, and Karl E. Zelik A Design Tool for Passive Wrist Support ...... 13 Ali Amoozandeh Nobaveh, Giuseppe Radaelli, and Just L. Herder The Key Elements in the Design of Passive Assistive Devices ...... 19 Maziar A. Sharbafi Novel Designs for Passive Elastic Lower Limb Exoskeletons ...... 27 Daniel P. Ferris and W. Sebastian Barrutia Passive Compliance in Legged Systems and Assistive Devices ...... 33 Andre Seyfarth Spring Like Passive Elastic Exoskeletons May Improve Stability and Safety of Locomotion in Uneven Terrain ...... 39 Laksh Kumar Punith, James Williamson, Taylor J. M. Dick, and Gregory S. Sawicki

Balance Recovery Support Using Wearable Robotic Devices Ankle-Exoskeleton Control for Assisting in Balance Recovery After Unexpected Disturbances During Walking ...... 47 C. Bayón, W. F. Rampeltshammer, A. Q. L. Keemink, H. van der Kooij, and E. H. F. van Asseldonk

v vi Contents

Coupling an Active Pelvis Orthosis with Different Prosthetic Knees While Transfemoral Amputees Manage a Slippage: A Pilot Study ...... 53 Monaco Vito, Aprigliano Federica, Arnetoli Gabriele, Doronzio Stefano, Giffone Antonella, Vitiello Nicola, and Micera Silvestro Self-induced Gyroscopic Torques in Lower Extremities During Gait: A Pilot Study ...... 59 Saher Jabeen, Bram Sterke, Heike Vallery, and Daniel Lemus Comparison of Balance Recovery Among Current Control Strategies for Robotic Leg Prostheses ...... 63 Nitish Thatte and Hartmut Geyer Reflex-Model with Additional COM Feedback Describes the Ankle Strategy in Perturbed Walking ...... 69 Maarten Afschrift and Friedl De Groote Optimising Balance Margin in Lower Limb Exoskeleton to Assist User-Driven Gait Stability ...... 75 Xiruo Cheng, Justin Fong, Ying Tan, and Denny Oetomo

Active Life with Prosthesis Control of Servomotor Rotation in a Myoelectric Upper-Limb Prosthesis Using a 16-Channel sEMG Sensor System ...... 83 Elisa Romero Avila, Elmar Junker, and Catherine Disselhorst-Klug Compliant Control of a Transfemoral Prosthesis Combining Predictive Learning and Primitive-Based Reference Trajectories ...... 89 Sophie Heins and Renaud Ronsse Design and Testing of a Fully-Integrated Electro-Hydrostatic Actuator for Powered Knee Prostheses ...... 95 Federico Tessari, Renato Galluzzi, Nicola Amati, Andrea Tonoli, Matteo Laffranchi, and Lorenzo De Michieli Controlling Upper-Limb Prostheses with Body Compensations ...... 101 Mathilde Legrand, Nathanaël Jarrassé, Charlotte Marchand, Florian Richer, Amélie Touillet, Noël Martinet, Jean Paysant, and Guillaume Morel HandMECH—Mechanical Hand Prosthesis: Conceptual Design of a Two Degrees-of-Freedom Compliant Wrist ...... 107 Ahmed A. I. Elsayed and Ramazan Unal HandMECH—Mechanical Hand Prosthesis: Conceptual Design of the Hand Compartment ...... 113 Baris Baysal and Ramazan Unal Contents vii

Legislation, Safety and Performance: Regulatory Aspects in Wearable Robots CO-GUIDING: Ergonomic Analysis of a Hand Guidance System for Car Door Assembly ...... 121 Erika Triviño-Tonato, Jawad Masood, Ruben P. Cibeira, and Angel Dacal-Nieto ATEX Certification for ALDAK Exoskeleton in Petrochemical Industry ...... 127 Ane Intxaurburu, Iñaki Díaz, Juan Martín, and Xabier Justo Acceptance of Exoskeletons: Questionnaire Survey ...... 133 Liên Wioland, J. Jean-Jacques, Atain-Kouadio, Latifa Debay, and Hugo Bréard Perceived Exertion During Robot-Assisted Gait After Stroke ...... 139 Nina Lefeber, Emma De Keersmaecker, Eric Kerckhofs, and Eva Swinnen Testing Safety of Lower Limbs Exoskeletons: Current Regulatory Gaps ...... 145 Stefano Massardi, David Pinto-Fernandez, Jan F.Veneman, and Diego Torricelli

The Testing of Industrial Exoskeletons Evaluation of Two Upper-Limb Exoskeletons for Ceiling Welding in the Naval Industry ...... 153 Francisco Mouzo, Florian Michaud, Urbano Lugris, Jawad Masood, and Javier Cuadrado Preliminary Study of an Exoskeleton Index for Ergonomic Assessment in the Workplace ...... 159 Giorgia Chini, Christian Di Natali, Stefano Toxiri, Francesco Draicchio, Luigi Monica, Darwin G. Caldwell, and Jesús Ortiz Effect of a New Passive Shoulder Exoskeleton on the Full Body Musculoskeletal Load During Overhead Work ...... 165 A. van der Have, S. Van Rossom, M. Rossini, and I. Jonkers The Experience of Plasterers Towards Using an Arm Support Exoskeleton ...... 171 Aijse W. de Vries, Michiel P. de Looze, and Frank Krause Biomechanical Evaluation of the Effect of Three Trunk Support Exoskeletons on Spine Loading During Lifting ...... 177 Idsart Kingma, Axel S. Koopman, Michiel P. de Looze, and Jaap H. van Dieën viii Contents

Can HDEMG-Based Low Back Muscle Fatigue Estimates Be Used in Exoskeleton Control During Prolonged Trunk Bending? A Pilot Study ...... 183 Niels P. Brouwer, Ali Tabasi, Alejandro Moya-Esteban, Massimo Sartori, Wietse van Dijk, Idsart Kingma, and Jaap H. van Dieën Back-Support Exoskeleton Control Using User’s Torso Acceleration and Velocity to Assist Manual Material Handling ...... 189 Maria Lazzaroni, Ali Tabasi, Stefano Toxiri, Darwin G. Caldwell, Idsart Kingma, Elena De Momi, and Jesús Ortiz Subjective Assessment of Occupational Exoskeletons: Feasibility Study for a Custom Survey for Braces ...... 195 M. Sposito, D. G. Caldwell, E. De Momi, and J. Ortiz

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 ...... 203 Eveline S. Graf, Christoph M. Bauer, Carole Pauli, and Markus Wirz The Effect of Exoskeletal-Assisted Walking on Bowel and Bladder Function: Results from a Randomized Trial ...... 209 Peter H. Gorman, Gail F. Forrest, Pierre K. Asselin, William Scott, Stephen Kornfeld, Eunkyoung Hong, and Ann M. Spungen Smartwear with Artificial Intelligence (AI) in Assessing Workload in View of Ergonomics ...... 215 Pekka Tolvanen, Riitta Simonen, and Janne Pylväs Comparison of ReWalk® and Ekso® Powered Exoskeletons for Stepping and Speed During Training Sessions ...... 221 Pierre K. Asselin, Gail F. Forrest, Stephen Kornfeld, Eunkyoung Hong, Peter H. Gorman, and Ann M. Spungen Indications and Contraindications for Exoskeletal-Assisted Walking in Persons with Spinal Cord Injury ...... 227 Ann M. Spungen, Peter H. Gorman, Gail F. Forrest, Pierre K. Asselin, Stephen Kornfeld, Eunkyoung Hong, and William A. Bauman The Impact of Exoskeletal-Assisted Walking on the Immune System of Individuals with Chronic Spinal Cord Injury (SCI) ...... 233 Anthony A. Arcese, Ann M. Spungen, and Ona Bloom Contents ix

Exoskeleton Controller and Design Considerations: Effect on Training Response for Persons with Spinal Cord Injury ...... 239 Gail F. Forrest, Peter H. Gorman, Arvind Ramanujam, Pierre K. Asselin, Steven Knezevic, Sandra Wojciehowski, and Ann M. Spungen

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 ..... 247 Guillaume Durandau, Wolfgang Rampeltshammer, Herman van der Kooij, and Massimo Sartori Energy Cost of Transport in Overground Walking of a Transfemoral Amputee Following One Month of Robot-Mediated Training ...... 251 C. B. Sanz-Morère, E. Martini, G. Arnetoli, S. Doronzio, A. Giffone, B. Meoni, A. Parri, R. Conti, F. Giovacchini, Þ. Friðriksson, D. Romo, R. Molino-Lova, S. Crea, and N. Vitiello Physical Therapy and Outdoor Assistance with the Myosuit: Preliminary Results ...... 257 Michele Xiloyannis, Florian L. Haufe, Jaime E. Duarte, Kai Schmidt, Peter Wolf, and Robert Riener Predictive Simulation of Sit-to-Stand Movements ...... 263 David Munoz, Leonardo Gizzi, Cristiano De Marchis, and Giacomo Severini SimBionics: Neuromechanical Simulation and Sensory Feedback for the Control of Bionic Legs ...... 269 Jose Gonzalez-Vargas, Massimo Sartori, Strahinja Dosen, Herman van der Kooij, and Johan Rietman Pseudo-online Muscle Onset Detection Algorithm with Threshold Auto-Adjustment for Lower Limb Exoskeleton Control ...... 275 J. Marvin Fernández García, Camila R. Carvalho, Filipe O. Barroso, and Juan C. Moreno Benefits and Potential of a Neuromuscular Controller for Exoskeleton-Assisted Walking ...... 281 N. L. Tagliamonte, A. R. Wu, I. Pisotta, F. Tamburella, M. Masciullo, M. Arquilla, E. H. F. van Asseldonk, H. van der Kooij, F. Dzeladini, A. J. Ijspeert, and M. Molinari CANopen Robot Controller (CORC): An Open Software Stack for Human Robot Interaction Development ...... 287 Justin Fong, Emek Barı¸s Küçüktabak, Vincent Crocher, Ying Tan, Kevin M. Lynch, Jose L. Pons, and Denny Oetomo x Contents

Toward Efficient Human-Exoskeleton Symbiosis Direct Collocation-Based Optimal Controller for Multi-modal Assistance: Simulation Study ...... 295 Anh T. Nguyen, Vincent Bonnet, and Samer Mohammed A Semi-active Upper-Body Exoskeleton for Motion Assistance ...... 301 Shaoping Bai, Muhammad R. Islam, Karl Hansen, Jacob Nørgaard, Chin-Yin Chen, and Guilin Yang Ultrasound-Based Sensing and Control of Functional Electrical Stimulation for Ankle Joint Dorsiflexion: Preliminary Study ...... 307 Qiang Zhang, Ashwin Iyer, and Nitin Sharma Towards Crutch-Free 3-D Walking Support with the Lower Body Exoskeleton Co-Ex: Self-balancing Squatting Experiments ...... 313 Sinan Coruk, Ahmed Fahmy Soliman, Oguzhan Dalgic, Mehmet C. Yildirim, Deniz Ugur, and Barkan Ugurlu Ankle Dorsiflexion Assistance Using Adaptive Functional Electrical Stimulation and Actuated Ankle Foot Orthosis ...... 319 Carlos Canchola-Hernandez, Hala Rifai, Yacine Amirat, and Samer Mohammed

Soft Wearable Robots for Health and Industry Feasibility and Effectiveness of a Soft Exoskeleton for Pediatric Rehabilitation ...... 327 Michele A. Lobo and Bai Li FleXo—Modular Flexible Back-Support Passive Exoskeleton ...... 333 Jesús Ortiz, Jorge Fernández, Tommaso Poliero, Luigi Monica, Sara Anastasi, Francesco Draicchio, and Darwin G. Caldwell A Model-Based Control Strategy for Upper Limb Exosuits ...... 339 N. Lotti, F. Missiroli, M. Xiloyannis, and L. Masia Pneumatic Control System for Exoskeleton Joint Actuation ...... 345 Pavel Venev, Ivanka Veneva, and Dimitar Chakarov PowerGrasp: Development Aspects for Arm Support Systems ...... 351 Jean-Paul Goppold, Jan Kuschan, Henning Schmidt, and Jörg Krüger Mobile Unilateral Hip Flexion Exosuit Assistance for Overground Walking in Individuals Post-Stroke: A Case Series ...... 357 Richard W. Nuckols, Franchino Porciuncula, Chih-Kang Chang, Teresa C. Baker, Dorothy Orzel, Asa Eckert-Erdheim, David Perry, Terry Ellis, Louis Awad, and Conor J. Walsh Contents xi

The SoftPro Wearable System for Grasp Compensation in Stroke Patients ...... 363 L. Franco, M. Tschiersky, G. Wolterink, F. Barontini, M. Poggiani, M. Catalano, G. Grioli, M. Bianchi, A. Bicchi, S. Rossi, D. Prattichizzo, and G. Salvietti Towards a Fabric-Based Soft Hand Exoskeleton for Various Grasp Taxonomies ...... 369 Andrea Peñas, Juan C. Maldonado-Mejía, Orion Ramos, Marcela Múnera, Patricio Barria, Mehran Moazen, Helge Wurdemann, and Carlos A. Cifuentes

Musculoskeletal Modelling to Evaluate and Optimize Performance of Wearable Robotic Devices Predictive Gait Simulations of Human Energy Optimization ...... 377 Anne D. Koelewijn and Jessica C. Selinger Reconstruction of Hip Moments Through Constrained Shape Primitives ...... 383 Henri Laloyaux and Renaud Ronsse Simulated Exoskeletons with Coupled Degrees-of-Freedom Reduce the Metabolic Cost of Walking ...... 389 Nicholas A. Bianco, Patrick W. Franks, Jennifer L. Hicks, and Scott L. Delp Model-Based Biomechanics for Conceptual Exoskeleton Support Estimation Applied for a Lifting Task ...... 395 Elena Gneiting, Jonas Schiebl, Mark Tröster, Verena Kopp, Christophe Maufroy, and Urs Schneider 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 ...... 401 Ali Tabasi, Maria Lazzaroni, Niels P. Brouwer, Idsart Kingma, Wietse van Dijk, Michiel P. de Looze, Stefano Toxiri, Jesús Ortiz, and Jaap H. van Dieën Effect of Mono- Versus Bi-Articular Ankle Foot Orthosis on Muscular Performance of the Lower Leg ...... 407 Mahdy Eslamy, Florian Mackes, and Arndt F. Schilling Ultrasound Imaging of Plantarflexor Muscles During Robotic Ankle Assisted Walking: Effects on Muscle Tendon Dynamics and Application Towards Improved Exoskeleton and Exosuit Control ...... 419 Richard W. Nuckols, Sangjun Lee, Krithika Swaminathan, Conor J. Walsh, Robert D. Howe, and Gregory S. Sawicki xii Contents

Simulation Platform for Dynamic Modeling of Lower Limb Rehabilitation Exoskeletons: Exo-H3 Case Study ...... 425 Sergey González-Mejía, José M. Ramírez-Scarpetta, Juan C. Moreno, and José L. Pons Understanding Technology-Induced Compensation: Effects of a Wrist-Constrained Robotic Hand Orthosis on Grasping Kinematics ...... 429 Jan T. Meyer, Charlotte Werner, Sarah Hermann, László Demkó, Olivier Lambercy, and Roger Gassert The Effects of Vestibular Stimulation to Enhance Rehabilitation and Enable Robotic Exoskeleton Training for Persons with CP ...... 435 Ghaith J. Androwis, Peter A. Michael, and Richard A. Foulds

Digitalization and Artificial Intelligence Applied to Wearable Technologies and Ergonomics A New Terrain Recognition Approach for Predictive Control of Assistive Devices Using Depth Vision ...... 443 Ali H. A. Al-dabbagh and Renaud Ronsse Simulation-Based Optimization Methodology for Designing a Workspace with an Exoskeleton ...... 449 Zohar Potash, Jawad Masood, and Raziel Riemer Optimizing Active Spinal Exoskeletons to Minimize Low Back Loads ...... 455 Giorgos D. Marinou and Katja D. Mombaur LSTM and CNN Based IMU Sensor Fusion Approach for Human Pose Identification in Manual Handling Activities ...... 461 Enrique Bances, Adnan Mushtaq Ali Karol, and Urs Schneider Visual Feedback Strategy Based on Serious Games for Therapy with T-FLEX Ankle Exoskeleton ...... 467 Angie Pino, Daniel Gomez-Vargas, Marcela Múnera, and Carlos A. Cifuentes The Utilization Effects of Powered Wearable Orthotics in Improving Upper Extremity Function in Persons with SCI: A Case Study ...... 473 Ghaith J. Androwis, Steven Kirshblum, and Guang Yue

Exoskeletons in Industry 4.0: Open Challenges and Perspectives Using a Spring-Loaded Upper-Limb Exoskeleton in Cleaning Tasks: A Preliminary Study ...... 481 I. Pacifico, F. Aprigliano, A. Parri, G. Cannillo, I. Melandri, F. S. Violante, F. Molteni, F. Giovacchini, N. Vitiello, and S. Crea Contents xiii

Methods for User Activity Recognition in Exoskeletons ...... 487 Iñaki Díaz, Juan Martín, Xabier Justo, Carlos Fernández, and Jorge Juan Gil A Topology-Optimization-Based Design Methodology for Wearable Robots: Implementation and Application ...... 493 Lorenzo Bartalucci, Matteo Bianchi, Enrico Meli, Alessandro Ridolfi, Andrea Rindi, and Nicola Secciani Lifting and Carrying: Do We Need Back-Support Exoskeleton Versatility? ...... 499 Tommaso Poliero, Maria Lazzaroni, Stefano Toxiri, Christian Di Natali, Darwin G. Caldwell, and Jesús Ortiz Exoskeletons Introduction in Industry. Methodologies and Experience of Centro Ricerche Fiat (CRF) ...... 505 Massimo Di Pardo, Rossella Monferino, Francesca Gallo, and Felice Tauro Quantifying the Impact of a Lower Limb Exoskeleton on Whole-Body Manipulation Tasks. Methodological Approach and First Results ...... 511 Yaiza Benito Molpeceres, Guillermo Asín-Prieto, Juan Carlos García Orden, and Diego Torricelli Assessment of Exoskeleton Related Changes in Kinematics and Muscle Activity ...... 517 Fabio V. dos Anjos, Taian M. Vieira, Giacinto L. Cerone, Talita P. Pinto, and Marco Gazzoni

Exoskeletons for Military Applications Exoskeletons for Military Logistics and Maintenance ...... 525 Mona Hichert, Markus Güttes, Ines Bäuerle, Nils Ziegenspeck, Nico Bölke, and Jonas Schiebl Aerial Porter Exoskeleton (APEX) for Lifting and Pushing ...... 529 W. Brandon Martin, Alexander Boehler, Kevin W. Hollander, Darren Kinney, Joseph K. Hitt, Jay Kudva, and Thomas G. Sugar Exoskeletons for Unarmed Military Use: Requirements and Approaches to Support Human Movements Using an Example of Protection Against Unknown CBRN Dangers ...... 535 C. Linnenberg, J. Klabunde, K. Hagner, and R. Weidner Analysis of a Passive Ankle Exoskeleton for the Reduction of the Metabolic Costs During walking—A Preliminary Study ...... 541 Luís P. Quinto, Pedro Pinheiro, Sérgio B. Gonçalves, Ivo F. Roupa, and Miguel T. Silva xiv Contents

A Multivariate Analysis for Force Element Selection in Passive Ankle Exoskeletons ...... 545 Nuno A. Ribeiro, Luís P. Quinto, Sérgio B. Gonçalves, Ivo F. Roupa, Paula P. Simões, and Miguel T. Silva

Application Industrial Exoskeletons On the Design of Kalman Observers for Back-Support Exoskeletons . . . 553 Erfan Shojaei Barjuei, Darwin G. Caldwell, and Jesús Ortiz Subjective Perception of Shoulder Support Exoskeleton at Groupe PSA ...... 559 Jawad Masood, Erika Triviño-Tonato, Maria Del Pilar Rivas-Gonzalez, Maria Del Mar Arias-Matilla, and Ana Elvira Planas-Lara MH-Forces, a Motion-Capture Based Method to Evaluate Workplace Ergonomics: Simulating Exoskeleton Effects ...... 565 Javier Marín, Juan de la Torre, and José J. Marín A Methodology to Assess the Effectiveness and the Acceptance of the Use of an Exoskeleton in a Company ...... 571 J. A. Tomás-Royo, M. Ducun-Lecumberri, A. E. Planas-Lara, and M. Arias-Matilla Objective Techniques to Measure the Effect of an Exoskeleton ...... 577 A. E. Planas-Lara, M. Ducun-Lecumberri, J. A. Tomás-Royo, Javier Marín, and José J. Marín Designing an Integrated Tool Set Framework for Industrial Exoskeletons ...... 583 O. A. Moreno, F. Draicchio, L. Monica, S. Anastasi, D. G. Caldwell, and J. Ortiz

Benchmarking Wearable Robots Wearable Robots Benchmarking: Comprehending and Considering User Experience ...... 591 Philipp Beckerle Performance Indicators of Humanoid Posture Control and Balance Inspired by Human Experiments ...... 597 Vittorio Lippi, Thomas Mergner, Christoph Maurer, and Thomas Seel Lower-Limbs Exoskeletons Benchmark Exploiting a Stairs-Based Testbed: The STEPbySTEP Project ...... 603 Nicole Maugliani, Marco Caimmi, Matteo Malosio, Francesco Airoldi, Diego Borro, Daniel Rosquete, Ausejo Sergio, Davide Giusino, Federico Fraboni, Giuseppe Ranieri, Luca Pietrantoni, and Loris Roveda Contents xv

Towards a Unified Terminology for Benchmarking Bipedal Systems .... 609 Anthony Remazeilles, Alfonso Dominguez, Pierre Barralon, and Diego Torricelli A Methodology for Benchmarking Force Control Algorithms ...... 615 R. Vicario, A. Calanca, N. Murr, M. Meneghetti, E. Sartori, G. Zanni, and P. Fiorini Limitation of Ankle Mobility Challenges Gait Stability While Walking on Lateral Inclines ...... 621 Maarten R. Prins, Nick Kluft, Wieke Philippart, Han Houdijk, Jaap H. van Dieën, and Sjoerd M. Bruijn A Workaround for Recruitment Issues in Preliminary WR Studies: Audio Feedback and Instrumented Crutches to Train Test Subjects .... 627 Matteo Lancini, Simone Pasinetti, Marco Ghidelli, Pietro Padovani, David Pinto-Fernández, Antonio J. del-Ama, and Diego Torricelli 3D Relative Motion Assessment in Lower-Limb Exoskeletons: A Case of Study with AGoRA Exoskeleton ...... 633 Felipe Ballen-Moreno, Carlos A. Cifuentes, Thomas Provot, Maxime Bourgain, and Marcela Múnera Robotic Rehabilitation in Cerebral Palsy: A Case Report ...... 639 Beatriz Moral, Óscar Rodríguez, Elena García, Eduardo Rocón, and Sergio Lerma Test Method for Exoskeleton Locomotion on Irregular Terrains: Testbed Design and Construction ...... 645 A. Torres-Pardo, D. Pinto-Fernández, E. Belalcázar-Bolaños, J. L. Pons, J. C. Moreno, and D. Torricelli

Small–Medium Enterprises in the Wearable Robotics Field: Tools and Opportunities to Create a Successful Company Private/Public Funding Strategies for Interactive Robotics Companies ...... 653 Arantxa Rentería-Bilbao RobotUnion Project: Accelerating Startups in Robotics ...... 659 Leire Martínez and Arantxa Rentería-Bilbao Starting Up a Surgical Robotics Company: The Case of Kirubotics ..... 665 Arantxa Renteria-Bilbao, Fernando Mateo, and Leire Martínez Redesigning Tax Incentives for Inclusive and Green Robotics in the European Union Reconstruction ...... 671 María Amparo Grau Ruiz