=Paper=
{{Paper
|id=Vol-3945/paper1
|storemode=property
|title=Examples of Assistive Robotic Solutions for Healthy Aging and Rehabilitation at University of Calabria
|pdfUrl=https://ceur-ws.org/Vol-3945/paper1.pdf
|volume=Vol-3945
|authors=Simone Leone,Francesco Lago,Elio Matteo Curcio,Giuseppe Carbone
|dblpUrl=https://dblp.org/rec/conf/aapei/LeoneLCC24
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==Examples of Assistive Robotic Solutions for Healthy Aging and Rehabilitation at University of Calabria==
https://ceur-ws.org/Vol-3945/paper1.pdf
Examples of Assistive Robotic Solutions for Healthy Aging
and Rehabilitation at University of Calabria
Simone Leone1,* , Francesco Lago1 , Elio Matteo Curcio1 and Giuseppe Carbone1,*
1
DIMEG, University of Calabria, Arcavacata di Rende (CS), Italy
Abstract
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 effectiveness of rehabilitation programs.
Keywords
Assistive Robotics, Robotic Design, Healthy Aging, Rehabilitation
1. Introduction
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 effective assistive robotic solutions to enhance quality of life and independence [1].
The World Health Organization (WHO) defines assistive technologies as products, systems, and
services designed to maintain or enhance functioning and promote well-being [2].
Assistive robots, therefore, are devices that leverage robotic capabilities such as sensing, processing,
and mobility to achieve this goal. Assistive robotics offers 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 [3, 4, 5, 6, 7].
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 effectively 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.
AAPEI ’24: 1st International Workshop on Adjustable Autonomy and Physical Embodied Intelligence, October 20, 2024, Santiago
de Compostela, Spain.
*
Corresponding author.
$ simone.leone@unical.it (S. Leone); giuseppe.carbone@unical.it (G. Carbone)
0009-0004-3895-8609 (S. Leone); 0000-0003-2556-5983 (F. Lago); 0000-0003-0619-8444 (E. M. Curcio); 0000-0003-0831-8358
(G. Carbone)
© 2024 Copyright for this paper by its authors. Use permitted under Creative Commons License Attribution 4.0 International (CC BY 4.0).
CEUR
ceur-ws.org
Workshop ISSN 1613-0073
Proceedings
2. The Attached Problem
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 [8].
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, efficient exercises to regain motor function and mobility, highlighting the importance of
incorporating robotic technologies, [9]. These devices must offer personalized exercises, real-time
progress monitoring, and adaptability to various physical conditions. User-friendliness, portability,
and compactness are essential for both home and clinic settings, with safety and precise control
mechanisms crucial to prevent harm during unsupervised sessions. By integrating assistive solutions
such as wearable devices, rehabilitation robotics, and innovative equipment can offer personalized
exercise regimens, real-time monitoring, and tailored rehabilitation programs [10], empowering diverse
needs and facilitating healthy aging and recovery. Moreover, continuous research and development
in this field aim to enhance the effectiveness and accessibility of these technologies, ensuring they
meet the evolving needs of seniors and individuals undergoing rehabilitation. Additional focus on
interdisciplinary collaboration and user-centered design approaches can further improve the usability
and acceptance of these devices among the target population, promoting their widespread adoption and
impact in improving quality of life. This collective effort fosters innovation and addresses the unique
challenges faced by older adults and individuals in rehabilitation, ultimately enhancing their overall
well-being and independence.
Figure 1: Methodological process.
3. A General Design Procedure
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.
4. Devices for Rehabilitation and Motion Assistance
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.
4.1. The Adiutor upper limb device
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, [11]. Based on a delta architecture,
it is designed to offer a wide range of rehabilitation modalities, supporting functional recovery in a
targeted and effective manner.
The Adiutor device not only allows users to perform a series of pre-programmed exercises, but also
offers 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 effective remote support.
This integrated approach, combining user interface and telemonitoring, makes the Adiutor a valuable
tool for efficient upper limb rehabilitation, all from the comfort of one’s own home.
(a) (b)
Figure 2: Adiutor home assitive device: a) concept; b) prototype at UNICAL.
4.2. A finger assistive exercising device
The two degrees of freedom finger assistive exercising device stands as a mechatronic solution meticu-
lously crafted to facilitate finger exercising and rehabilitation with exceptional precision and effective-
ness, Figure 3, [12].
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
flexibility and strengthening of the fingers.
This targeted and specialized support is particularly advantageous for individuals grappling with
finger impairments or injuries, offering 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)
Figure 3: Finger exercising device: a) concept; b) prototype at UNICAL.
4.3. A cable-driven lower-limb device
The cable device for bedridden patients allows specific exercises for the knee and ankle joints, such as
flexion and extension, without having to leave the bed, Figure 4, [13].
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
effectiveness, 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.
Figure 4: A prototype of a cable-driven lower limb device at UNICAL.
4.4. An interactive mechatronic approach for upper limb rehabilitation
The ReHArm prototype, a variable stiffness device, and the A.R.M.S. (Arms Rehabilitation Management
System) user interface, Figure 5, provide an innovative solution for optimising upper limb rehabilitation
[14]. Developed at Pprime University in Poitiers (France) with the UNICAL team, this system offers
reliable and constant support, adapting to the specific needs of patients.
(a) (b)
Figure 5: ReHArm device and A.R.M.S. interface: a) concept; b) built prototype.
The compact and lightweight ReHArm prototype is easily transportable and can be installed on
different work surfaces. Composed of five modules with different hardware components, it is versatile
and effective. The presence of sensors integrated into the handle allows the device to adjust its stiffness
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 difficulty 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
effectiveness 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 effectiveness. Preliminary results indicate a promising efficacy 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.
5. Assistive Devices for Daily Activities and Learning
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 difficulties. 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 difficulties, with the aim of improving their quality of life and education.
5.1. The Pick&Eat wheel-chair mounted robotic arm
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 [15].
The optimised, modular design allows for easy installation, adaptability to different 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-effector, 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 staff.
(a) (b)
Figure 6: Wheelchair mounted robotic arm: a) proposed concept; b) a prototype.
5.2. Pyramidal cable driven robot for child writing assitance
An innovative pyramidal cable-driven robot has been designed to assist primary school children with
difficulties in learning or regaining writing skills, as shown in Figure 7, [16]. This work is a collaboration
with the University of Skidda, Algeria.
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
difficulties, 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.
(a) (b)
Figure 7: Pyramidal cable driven robot: (a) concept; (b) prototype at UNICAL.
6. Conclusions
In conclusion, the showcased robotic solutions from the team at University of Calabria underscore
remarkable potential for effective 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, offering vital support for autonomy and fulfillment.
Additionally, intuitive and user-friendly design ensures greater exercise adherence and rehabilitation
program effectiveness in both domestic and clinical setting. These innovations offer personalized care,
improving quality of life for those regaining mobility and independence.
Continued research will yield more advanced solutions, benefiting society with targeted care.
Acknowledgments
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.
Declaration on Generative AI
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.
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