This manuscript describes a systematic design procedure and some examples of innovative assistive robotics solutions that have been developed at University of Calabria (UNICAL) to address various challenges for healthy ageing and rehabilitation. These solutions include advanced technologies such as exoskeletons, therapeutic robots and wearable devices, designed to improve mobility, strength and coordination. They are designed for use either at home or in the clinic. The main objective is to provide innovative and cost-oriented solutions for increasing users' independence, promote well-being and improve the overall quality of life of the elderly and recovering population. Furthermore, these technologies are designed to be intuitive and easy to use, thus ensuring easy adherence to prescribed exercises and improved efectiveness of rehabilitation programs.
The escalating global population of elderly individuals poses substantial challenges in promoting healthy
aging and facilitating rehabilitation for individuals confronting diverse health conditions and injuries.
As the number of individuals seeking rehabilitation continues to rise, there is a pressing need for
innovative and efective assistive robotic solutions to enhance quality of life and independence [
The World Health Organization (WHO) defines assistive technologies as products, systems, and
services designed to maintain or enhance functioning and promote well-being [
Assistive robots, therefore, are devices that leverage robotic capabilities such as sensing, processing,
and mobility to achieve this goal. Assistive robotics ofers a range of applications tailored to diverse needs,
such as mobility assistance, communication aids, cognitive assistance, rehabilitation, and environmental
control as reported, for example, in [
This paper explores some innovative examples of assistive robotic solutions. Each of these solutions deals with specific aspects of healthy aging and rehabilitation, providing significant benefits in terms of mobility support, healthcare monitoring, physical rehabilitation, and overall well-being. By showcasing these exemplary cases, it underscores the transformative impact that robot technologies can have on the lives of the aging population and individuals seeking to regain their independence and mobility.
The objective is to inspire further research and development in the field of assistive robotics, fostering the creation of cutting-edge solutions that efectively address the unique challenges faced by seniors and individuals in rehabilitation. Ultimately, these innovative devices play a pivotal role in enhancing independence, promoting well-being, and improving the overall quality of life for the aging population and individuals on the path to recovery.
With advancing age, older adults face physical and cognitive decline, leading to reduced mobility,
increased health risks, and potential social isolation. Exercising and rehabilitation of human limbs are
critical for promoting healthy aging and aiding recovery from injuries or medical conditions [
For healthy aging, maintaining muscle strength, joint flexibility, and cardiovascular health is vital
for an active lifestyle and independent living. Similarly, individuals undergoing rehabilitation require
targeted, eficient exercises to regain motor function and mobility, highlighting the importance of
incorporating robotic technologies, [
We propose a general design procedure to address any innovative robotic design that can concurrently consider multifaceted green-aware design requirements and constraints. A diagram representing the entire proposed methodological process is shown in Figure 1.
The process of designing a robotic device aims to achieve the optimal solution, starting from the definition of the product requirements, known as the Product Design Specification (PDS). The PDS phase involves compiling a table outlining the project’s performance and key features using objective data and sources, including competitor analysis, regulatory references and conditions of use to form a product profile. Design begins with defining specifications while researching competitors and regulations. Specifications should be justified, flexible, and relevant, covering aspects like performance, materials, ergonomics, production costs, and sustainability. Market analysis helps estimate the new product’s potential, while radical innovations require hypothesis testing. Subsequently, concepts are generated and evaluated using techniques such as brainstorming and mind mapping. These concepts are then compared with the specification table to identify any unattainable targets, allowing for necessary adjustments. Specifically, brainstorming generates ideas without criticism, which are then organized and refined, while other techniques explore innovative solutions by identifying key product functions and proposing creative alternatives. Concepts are assessed for technical feasibility using both qualitative (Datum Method) and quantitative (Optimum Rating Method) methods. Simplified models are created to analyse system behaviour, often with the help of simulation software. This iterative process ensures a robotic system design that meets technical, economic, and environmental specifications, resulting in an innovative solution.
Our research group, led by Prof. Giuseppe Carbone at the University of Calabria, has developed advanced mechatronic solutions for rehabilitation and movement support, in collaboration with several international partners. These innovative devices aim to enhance mobility and motor function of both upper and lower limbs, marking a significant advance in assistive robotics. The following sub-chapters detail some of these solutions, each featuring original designs and protected by proprietary patents.
The Adiutor upper limb rehabilitation device is an advanced assistive mechatronic solution designed for
home-based exercising and rehabilitation of the upper limb, Figure 2, [
The Adiutor device not only allows users to perform a series of pre-programmed exercises, but also ofers the possibility to record and replicate specific movements. These movements can be created and set by the therapist, who can customise the exercises to the patient’s individual needs. After recording a movement, the device allows the patient to repeat it, providing a score based on execution time and comparison with a healthy person’s time. This scoring system helps monitor the patient’s progress and motivate them, making the rehabilitation experience more engaging and goal-oriented.
In addition, the Adiutor device features an intuitive interface that facilitates patient interaction with the system and increases engagement during rehabilitation sessions. The integrated telemonitoring functionality allows health professionals to remotely follow and assess patients’ progress, thus ensuring personalised care and efective remote support.
This integrated approach, combining user interface and telemonitoring, makes the Adiutor a valuable tool for eficient upper limb rehabilitation, all from the comfort of one’s own home.
The two degrees of freedom finger assistive exercising device stands as a mechatronic solution
meticulously crafted to facilitate finger exercising and rehabilitation with exceptional precision and
efectiveness, Figure 3, [
By harnessing its ring design, operating architecture and adjustable resistance levels, the device empowers users to engage in a diverse range of finger movements and exercises, purposefully promoting lfexibility and strengthening of the fingers.
This targeted and specialized support is particularly advantageous for individuals grappling with ifnger impairments or injuries, ofering them the opportunity to partake in customized exercises tailored to their distinct needs and capabilities, ultimately fostering their rehabilitation success, and enhancing their overall hand dexterity and quality of life.
(a) (b)
The cable device for bedridden patients allows specific exercises for the knee and ankle joints, such as
lfexion and extension, without having to leave the bed, Figure 4, [
Designed with strategically placed cables, the device ensures controlled and risk-free movements, while the resistance, range and maximum force adjustments allow it to be adapted to the type of injury and the specific needs of the patient, providing a safe and personalized workout. The device’s compact and lightweight design facilitates its use in hospitals and nursing homes without compromising efectiveness, while its versatility is highlighted by its ability to adapt to rehabilitation needs, adjusting exercises based on patient response and therapeutic goals.
This device not only facilitates the recovery of bedridden patients through targeted and customised exercises, but also stands out for its practicality and adaptability in various healthcare settings.
The ReHArm prototype, a variable stifness device, and the A.R.M.S. (Arms Rehabilitation Management
System) user interface, Figure 5, provide an innovative solution for optimising upper limb rehabilitation
[
(a) (b)
The compact and lightweight ReHArm prototype is easily transportable and can be installed on diferent work surfaces. Composed of five modules with diferent hardware components, it is versatile and efective. The presence of sensors integrated into the handle allows the device to adjust its stifness in real time, providing personalized support during recovery and dynamically adapting to the severity of the patient’s injury. The A.R.M.S. user interface provides an interactive and progressive path for patients, guiding them through exercises that increase in dificulty while providing immediate feedback. By continuously monitoring patient progress, it allows therapists to adapt the rehabilitation plan in real time based on individual needs and progress, improving the overall experience, engagement and efectiveness of treatment.
The innovation comes from the synergy between the device and the interface, which, by combining their functionalities, provides a highly personalized rehabilitation experience, significantly improving treatment adherence and overall efectiveness. Preliminary results indicate a promising eficacy of the system, which creates an immersive environment that promotes treatment adherence, patient autonomy and recovery of upper limb motor functions, making it a comprehensive, versatile and accessible option to enhance the rehabilitation process.
In the context of our research, we have also developed assistive devices to improve the autonomy of people with disabilities and support learning in children with motor dificulties. In collaboration with international partners, we have designed solutions to help with daily activities such as eating and writing. The following subchapters describe these devices, which address the specific needs of users with motor dificulties, with the aim of improving their quality of life and education.
The Pick&Eat device, Figure 6, is a wheel-chair mounted robotic arm (WMRA), a mechatronic assistive
solution designed to support patients with paresthesia, paresis or paralysis of the upper limbs during
the act of eating [
The optimised, modular design allows for easy installation, adaptability to diferent wheelchairs and autonomous operation without requiring specific professional skills.
Designed to the average anthropometric specifications of an adult male, the robotic arm features an interchangeable modular end-efector, allowing the use of a fork or spoon depending on the meal. The device is equipped with strategically placed sensors to increase safety during human-machine interaction, thanks to a unified control logic that executes tasks and monitors positions.
Tests have shown that the Pick&Eat device is a safe, reliable and low-cost solution, improving the quality of life and psychological well-being of patients and reducing the workload of healthcare staf. (a) (b)
An innovative pyramidal cable-driven robot has been designed to assist primary school children with
dificulties in learning or regaining writing skills, as shown in Figure 7, [
The robot’s design features a pyramid-shaped structure with cables attached to the top point, which control a writing instrument held at the base. The child interacts with the robot by moving a stylus or using a modified pen grip. As the child moves the stylus, the robot translates those movements into precise and controlled writing actions.
This technology aims to provide personalised and adaptive support to children with fine motor dificulties, helping them develop and recover writing skills in a fun and engaging way. Personalisation is key as the system selects specific tasks for the child, which are then translated into executable trajectories by the robot, thereby tailoring the writing experience to their individual needs and therapeutic goals.
Through this assistive robotic solution, children can experience a positive and rewarding writing learning experience, enhancing their overall educational journey.
In conclusion, the showcased robotic solutions from the team at University of Calabria underscore remarkable potential for efective care, healthy aging, and rehabilitation. Technologies like exoskeletons, therapeutic robots, and wearable devices provide more accessible, tailored assistance, enhancing quality of life for rehabilitation and care recipients.
These solutions promote mobility, strength, and independence recovery, crucial for aging well. They address challenges of aging and rehabilitation, ofering vital support for autonomy and fulfillment. Additionally, intuitive and user-friendly design ensures greater exercise adherence and rehabilitation program efectiveness in both domestic and clinical setting. These innovations ofer personalized care, improving quality of life for those regaining mobility and independence.
Continued research will yield more advanced solutions, benefiting society with targeted care.
We acknowledge financial support of the Next Generation EU National Recovery and Resilience Plan Project FAIR - Future AI Research (PE00000013), Spoke 9 - Green-aware AI and Project AGE-IT: “Ageing Well in an Ageing Society”, PE8, DM 1557, 11.10.2022. During the preparation of this work, the authors used X-GPT-4 and Gemini in order to: Grammar and spelling check. After using these tools, the authors reviewed and edited the content as needed and takes full responsibility for the publication’s content.