1;Contents;6 2;Wearable Sensors for RoboticExoskeletons;18 3;Position Sensing and Control with FMG Sensors for Exoskeleton Physical Assistance;19 3.1;Abstract;19 3.2;1 Introduction;19 3.3;2 FMG Sensor;20 3.4;3 Elbow Exoskeleton Design;20 3.5;4 SVM Implementation;20 3.5.1;4.1 Hardware Setup;20 3.5.2;4.2 Real-Time Estimation;21 3.6;5 Experiments and Results;21 3.6.1;5.1 Joint Angle Estimation;21 3.6.2;5.2 E-EXO Control;21 3.7;6 Conclusion;22 3.8;Acknowledgment;23 3.9;References;23 4;Force Localization Estimation Using a Designed Soft Tactile Sensor;24 4.1;Abstract;24 4.2;1 Introduction;24 4.3;2 Sensor Description and Test Setup;25 4.4;3 Force Localization Estimation;26 4.4.1;3.1 Data Gathering;26 4.4.2;3.2 Learning Algorithm;26 4.4.3;3.3 Estimation Results;27 4.5;4 Conclusion;27 4.6;References;28 5;EIT-Based Tactile Sensing Patches for Rehabilitation and Human Machine Interaction;29 5.1;1 Introduction;29 5.2;2 Materials and Methods;30 5.3;3 Results;31 5.4;4 Conclusions;32 5.5;References;32 6;Synthesis and Optimization Considerations for a Knee Orthosis Based on a Watt's Six-Bar Linkage;34 6.1;Abstract;34 6.2;1 Introduction;34 6.3;2 Synthesis of the Basic Linkage;35 6.3.1;2.1 Grashof Condition and Geometry;36 6.4;3 Design and Optimization Considerations;36 6.4.1;3.1 Kinematic and Dynamic Optimization;36 6.5;4 Conclusion and Future Work;37 6.6;References;38 7;Wearable Sensory Apparatus Performance While Using Inertial Measurement Units;39 7.1;1 Introduction;39 7.2;2 Materials and Methods;40 7.2.1;2.1 Wearable Sensory Apparatus;40 7.2.2;2.2 Transfer Protocol of Sensors Signals;40 7.2.3;2.3 Background of Intention Detection Algorithms;41 7.3;3 Results;41 7.4;4 Discussion and Conclusion;42 7.5;References;43 8;WeFiTS: Wearable Fingertip Tactile Sensor;44 8.1;1 Introduction;44 8.2;2 Problem Definition;45 8.3;3 Materials and Methods;45 8.3.1;3.1 Design Criteria;46 8.3.2;3.2 Electromechanical Design of WeFiTS;46 8.4;4 Conclusion;48 8.5;References;48 9;Soft Wearable Robots;49 10;Characterisation of Pressure Distribution at the Interface of a Soft Exosuit: Towards a More Comfortable Wear;50 10.1;1 Introduction;50 10.2;2 Methods;52 10.3;3 Results and Conclusions;53 10.4;References;53 11;Realizing Soft High Torque Actuators for Complete Assistance Wearable Robots;54 11.1;1 Introduction;54 11.2;2 Pleated Pneumatic Interference Actuator for Knee Extension;55 11.2.1;2.1 Pleated Pneumatic Interference Actuator Orthosis;56 11.3;3 Results and Discussion;57 11.4;4 Conclusions and Future Work;57 11.5;References;58 12;Application of a User-Centered Design Approach to the Development of XoSoft - A Lower Body Soft Exoskeleton;59 12.1;Abstract;59 12.2;1 Introduction;59 12.3;2 User-Centered Design of XoSoft;60 12.3.1;2.1 User-Centered Design Principles;60 12.3.2;2.2 XoSoft Design Process and Methods;60 12.4;3 Practical Benefits and Challenges Encountered;62 12.4.1;3.1 Benefits of Implementing UCD to XoSoft;62 12.4.2;3.2 Challenges of Implementing UCD to XoSoft;62 12.5;4 Conclusion;62 12.6;Acknowledgment;62 12.7;References;63 13;Preliminary Experimental Study on Variable Stiffness Structures Based on Textile Jamming for Wearable Robotics;64 13.1;Abstract;64 13.2;1 Introduction;64 13.3;2 Textile Jamming;65 13.3.1;2.1 Concept;65 13.3.2;2.2 Prototyping and Experiments;65 13.4;3 Conclusions;67 13.5;References;67 14;Towards Embroidered Sensing Technologies for a Lower Limb Soft Exoskeleton;68 14.1;Abstract;68 14.2;1 Introduction;68 14.3;2 Materials and Methods;69 14.3.1;2.1 Embroidered Knee Sensor;69 14.4;3 Results;70 14.5;4 Conclusions;71 14.6;References;71 15;Recent Results from Evaluation of Soft Wearable Robots in Clinical Populations;73 15.1;Abstract;73 15.2;1 Introduction;73 15.3;2 Restoring Poststroke Gait;73 15.4;3 Restoring Grasp After Spinal Cord Injury;75 15.5;Acknowledgment;77 15.6;References;77 16;Subject-Centered Based Approaches for Controlling Wearable Robots;78 17;Toward an Affordable Multi-Modal Motion Capture System Framework for Human Kinem