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Webots ros9/8/2023 Besides, such devices are not only used to support the human body but can be exploited to drive an external robot in a primary-replicas fashion ( Huang et al., 2018 Petrenko et al., 2019) or in imitation learning applications ( Huang et al., 2019 Hua et al., 2021). The proposed approach has been tested on a single subject in the framework of a pilot study.Įxoskeletons are a promising technology with a vast range of applications from the military to the industrial fields, from healthcare to injury prevention in physically stressful jobs. Furthermore, the admittance control strategy, which continuously varies the control parameters to best render the force sensation and adapt to the user's motion intentions, will be investigated. In this paper, the virtual environment, developed within the Webots framework and rendering a HES digital-twin mapping and mimicking the actual HES motion, will be described in detail. Whenever the patient grasps a virtual object, the HES provides the user with a force feedback sensation. The exoskeleton assists the patient's movements according to force feedback and following a reference value calculated inside the VR. Motivated by these considerations, a Hand Exoskeleton System (HES) has been designed to be interfaced with a variable admittance control to achieve VR-based rehabilitation tasks. Modern VR can also render interaction forces when paired to wearable devices to give the user some sort of proprioceptive force or tactile feedback. Besides, they can be easily reconfigured to match the patient's needs by manipulating exercise intensity, e.g., Assistance-As-Needed (AAN) and the required tasks. Indeed, virtual environments can simulate real-life manipulation tasks and real-time assign a score to the patient's performance, thus providing challenging exercises while promoting training with a reward-based system. In this view, robotic devices, like hand exoskeletons, do arise as an excellent tool to boost both therapy's outcome and patient participation, especially when paired with the advantages offered by interacting with virtual reality (VR). Object manipulation is a crucial element of hand rehabilitation treatments however, as a standalone process may result in being repetitive and unstimulating in the long run. ![]() ![]() Several studies highlight that patients are encouraged to undergo their therapies and feel more involved in the process when collaborating with a user-friendly robotic environment. Robot-based rehabilitation is consolidated as a viable and efficient practice to speed up and improve the recovery of lost functions. Department of Industrial Engineering, University of Florence, Florence, Italy.Alberto Topini †, William Sansom †, Nicola Secciani †, Lorenzo Bartalucci †, Alessandro Ridolfi and Benedetto Allotta *
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