Periodic Reporting for period 1 - SWAG (SOFT WEARABLE ASSISTIVE GARMENTS FOR HUMAN EMPOWERMENT)
Período documentado: 2023-11-01 hasta 2024-10-31
An increasing number of EU citizens are experiencing some type of mobility challenge, leading to deterioration of their life quality. Causes include an aging population, as well as mobility restrictions due to physical injuries and other health-related issues. State-of-the-art wearable robots offer significant enhancement of human capabilities, leading to their rapidly growing adoption in combating these challenges. For those facing mobility difficulties, wearable robots can restore independence, enabling movement and improving quality of life. In high-risk industries such as construction and manufacturing, wearable robots provide essential support, reducing strain and preventing injuries caused by repetitive tasks or heavy lifting. These devices not only improve worker safety but also boost productivity by mitigating fatigue and extending physical endurance. Wearable robots could become indispensable tools for fostering societal inclusivity and workplace efficiency, once current obstacles such as their increased weight, limited applications, and high purchase cost are eliminated.
SWAG, standing for Soft Wearable Assistive Garments, is a project set to revolutionize wearable robotics by addressing their key challenges. SWAG encompasses innovations in fabric-based soft robotics, integrated soft sensing, user intent tracking, biomechanically-optimized control and distributed pneumatic actuation. The SWAG functional garment will provide support to entire body regions rather than single joints. By incorporating multi-level sensing and control, coupled with advanced data-driven, model-based algorithms for user intent tracking, SWAG aims to deliver high-fidelity, real-time motion assistance. Furthermore, SWAG aims to eliminate the constraints of tethered operation, offering simultaneous support of the entire lower limb system via a portable pneumatic system that efficiently recycles air. Most importantly, SWAG introduces a user-centric, adaptive design paradigm, generalizable for all robots that interact with humans, with technical development guided by end-user input throughout the design process.
The SWAG project is set to make an impact across multiple domains by introducing the first multi-purpose soft exosuit, capable of simultaneously actuating multiple joints of the lower limbs with real-time motion control. Its broad application scope encompasses multiple potential applications, four of which are represented as project use cases. First is motion assistance for elderly and mobility-impaired individuals, with SWAG aiming to significantly improve quality of life for those affected. In the occupational enhancement use case, the use of the SWAG exosuit will reduce work-related musculoskeletal strain and improve industrial safety. From a wellness point of view, SWAG offers diverse applications in training and rehabilitation therapy. Finally, SWAG will also be used in immersive haptics, redefining the virtual reality experience with haptic feedback across the body. Designed with inherent safety features, using soft, compliant materials and a safe-by-design approach, SWAG ensures user safety while achieving high performance and energy efficiency. Furthermore, its durability, applications across diverse scenarios, and cost-effective production are set to make it a commercially viable solution poised for widespread adoption. Economically, SWAG targets rapidly expanding markets such as medical robotics, sporting goods, and VR haptics.
SWAG, standing for Soft Wearable Assistive Garments, is a project set to revolutionize wearable robotics by addressing their key challenges. SWAG encompasses innovations in fabric-based soft robotics, integrated soft sensing, user intent tracking, biomechanically-optimized control and distributed pneumatic actuation. The SWAG functional garment will provide support to entire body regions rather than single joints. By incorporating multi-level sensing and control, coupled with advanced data-driven, model-based algorithms for user intent tracking, SWAG aims to deliver high-fidelity, real-time motion assistance. Furthermore, SWAG aims to eliminate the constraints of tethered operation, offering simultaneous support of the entire lower limb system via a portable pneumatic system that efficiently recycles air. Most importantly, SWAG introduces a user-centric, adaptive design paradigm, generalizable for all robots that interact with humans, with technical development guided by end-user input throughout the design process.
The SWAG project is set to make an impact across multiple domains by introducing the first multi-purpose soft exosuit, capable of simultaneously actuating multiple joints of the lower limbs with real-time motion control. Its broad application scope encompasses multiple potential applications, four of which are represented as project use cases. First is motion assistance for elderly and mobility-impaired individuals, with SWAG aiming to significantly improve quality of life for those affected. In the occupational enhancement use case, the use of the SWAG exosuit will reduce work-related musculoskeletal strain and improve industrial safety. From a wellness point of view, SWAG offers diverse applications in training and rehabilitation therapy. Finally, SWAG will also be used in immersive haptics, redefining the virtual reality experience with haptic feedback across the body. Designed with inherent safety features, using soft, compliant materials and a safe-by-design approach, SWAG ensures user safety while achieving high performance and energy efficiency. Furthermore, its durability, applications across diverse scenarios, and cost-effective production are set to make it a commercially viable solution poised for widespread adoption. Economically, SWAG targets rapidly expanding markets such as medical robotics, sporting goods, and VR haptics.
At M12 of the project, most of the technical development tasks of the SWAG project have been kick-started.
The major technical achievement of the SWAG project recorded in this period has been the derivation of the functional requirements and the subsequent definition of the device's technical specifications and overall system architecture. The process followed a user-centric design approach, where the functional requirements were driven by user needs, as these have been recorded in user panels. Openly available datasets were also used to drive the prioritization of device requirements. The datasets used were first reviewed by the use-case leaders of the project, to ensure that the provided biomechanical data are indicative of the expected motions that the final exosuit should assist. Following this process, the technical specifications of the SWAG system were consolidated on component as well as system-level. The technical specifications derivation process involved technical partners as well as use-case leaders, to ensure compliancy with the functional requirements, technical development feasibility, and well-defined cross-component interfacing. The system architecture was a major outcome of this process.
Currently, significant research outcomes have been demonstrated in various of the device's components. Several biomechanical models linking muscle activity to desired motion, both on joint-level and on overall user intent, have been developed and tested with encouraging results. The development of the overall exosuit as a functional garment has also progressed, as the selection of the most appropriate candidate materials, fastening options and soft actuator placement has been concluded. The detailed study of soft actuator performance in conjunction with the biomechanical requirements of each joint has indicated the optimal actuator types to be used across the exosuit. The pneumatic and electronic subsystems have also been designed and initial prototypes are already being evaluated.
The ethical compliancy of the technical activities of the project has also been closely monitored, following ongoing updates to AI legislation. The user-centric design approach developed in the context of the SWAG project is another significant outcome of the first year's progress.
The major technical achievement of the SWAG project recorded in this period has been the derivation of the functional requirements and the subsequent definition of the device's technical specifications and overall system architecture. The process followed a user-centric design approach, where the functional requirements were driven by user needs, as these have been recorded in user panels. Openly available datasets were also used to drive the prioritization of device requirements. The datasets used were first reviewed by the use-case leaders of the project, to ensure that the provided biomechanical data are indicative of the expected motions that the final exosuit should assist. Following this process, the technical specifications of the SWAG system were consolidated on component as well as system-level. The technical specifications derivation process involved technical partners as well as use-case leaders, to ensure compliancy with the functional requirements, technical development feasibility, and well-defined cross-component interfacing. The system architecture was a major outcome of this process.
Currently, significant research outcomes have been demonstrated in various of the device's components. Several biomechanical models linking muscle activity to desired motion, both on joint-level and on overall user intent, have been developed and tested with encouraging results. The development of the overall exosuit as a functional garment has also progressed, as the selection of the most appropriate candidate materials, fastening options and soft actuator placement has been concluded. The detailed study of soft actuator performance in conjunction with the biomechanical requirements of each joint has indicated the optimal actuator types to be used across the exosuit. The pneumatic and electronic subsystems have also been designed and initial prototypes are already being evaluated.
The ethical compliancy of the technical activities of the project has also been closely monitored, following ongoing updates to AI legislation. The user-centric design approach developed in the context of the SWAG project is another significant outcome of the first year's progress.
At M12 of the SWAG project, it is still early to showcase substantial results and impact. However, preliminary findings have laid the groundwork for the project's outcomes and broader impact.
We are currently advancing in key areas, including model-based and intent-aware motion controllers, soft actuator design and performance optimization, and enhancing energetic efficiency in multi-joint assistive garments. Significant results have been obtained from the user-centric design approach that has been adopted throughout this time. Additionally, we have actively participated in various robotics and biomechanics community events, showcasing several SWAG outcomes. By the project's conclusion, we anticipate testing the performance of the SWAG prototypes across multiple use cases, with significant potential impact expected in each.
We are currently advancing in key areas, including model-based and intent-aware motion controllers, soft actuator design and performance optimization, and enhancing energetic efficiency in multi-joint assistive garments. Significant results have been obtained from the user-centric design approach that has been adopted throughout this time. Additionally, we have actively participated in various robotics and biomechanics community events, showcasing several SWAG outcomes. By the project's conclusion, we anticipate testing the performance of the SWAG prototypes across multiple use cases, with significant potential impact expected in each.