{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,6,8]],"date-time":"2026-06-08T10:00:14Z","timestamp":1780912814042,"version":"3.54.1"},"reference-count":67,"publisher":"MDPI AG","issue":"18","license":[{"start":{"date-parts":[[2022,9,13]],"date-time":"2022-09-13T00:00:00Z","timestamp":1663027200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Aalborg University, Denmark"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>This paper presents the EXOTIC- a novel assistive upper limb exoskeleton for individuals with complete functional tetraplegia that provides an unprecedented level of versatility and control. The current literature on exoskeletons mainly focuses on the basic technical aspects of exoskeleton design and control while the context in which these exoskeletons should function is less or not prioritized even though it poses important technical requirements. We considered all sources of design requirements, from the basic technical functions to the real-world practical application. The EXOTIC features: (1) a compact, safe, wheelchair-mountable, easy to don and doff exoskeleton capable of facilitating multiple highly desired activities of daily living for individuals with tetraplegia; (2) a semi-automated computer vision guidance system that can be enabled by the user when relevant; (3) a tongue control interface allowing for full, volitional, and continuous control over all possible motions of the exoskeleton. The EXOTIC was tested on ten able-bodied individuals and three users with tetraplegia caused by spinal cord injury. During the tests the EXOTIC succeeded in fully assisting tasks such as drinking and picking up snacks, even for users with complete functional tetraplegia and the need for a ventilator. The users confirmed the usability of the EXOTIC.<\/jats:p>","DOI":"10.3390\/s22186919","type":"journal-article","created":{"date-parts":[[2022,9,13]],"date-time":"2022-09-13T22:37:28Z","timestamp":1663108648000},"page":"6919","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":23,"title":["User Based Development and Test of the EXOTIC Exoskeleton: Empowering Individuals with Tetraplegia Using a Compact, Versatile, 5-DoF Upper Limb Exoskeleton Controlled through Intelligent Semi-Automated Shared Tongue Control"],"prefix":"10.3390","volume":"22","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-6054-4902","authenticated-orcid":false,"given":"Mikkel Berg","family":"Th\u00f8gersen","sequence":"first","affiliation":[{"name":"Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Mostafa","family":"Mohammadi","sequence":"additional","affiliation":[{"name":"Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Muhammad Ahsan","family":"Gull","sequence":"additional","affiliation":[{"name":"Department of Materials and Production Technology, Aalborg University, 9220 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9306-7658","authenticated-orcid":false,"given":"Stefan Hein","family":"Bengtson","sequence":"additional","affiliation":[{"name":"Visual Analysis and Perception (VAP) Lab, Department of Architecture, Design, and Media Technology, Aalborg University, 9000 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Frederik Victor","family":"Kobbelgaard","sequence":"additional","affiliation":[{"name":"Department of Planning, Aalborg University, 9000 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Bo","family":"Bentsen","sequence":"additional","affiliation":[{"name":"Center for Rehabilitation Robotics, Department of Health Science and Technology, Aalborg University, 9220 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Benjamin Yamin Ali","family":"Khan","sequence":"additional","affiliation":[{"name":"Spinal Cord Injury Centre of Western Denmark, Viborg Regional Hospital, 8800 Viborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"K\u00e5re Eg","family":"Severinsen","sequence":"additional","affiliation":[{"name":"Spinal Cord Injury Centre of Western Denmark, Viborg Regional Hospital, 8800 Viborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5882-9768","authenticated-orcid":false,"given":"Shaoping","family":"Bai","sequence":"additional","affiliation":[{"name":"Department of Materials and Production Technology, Aalborg University, 9220 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Thomas","family":"Bak","sequence":"additional","affiliation":[{"name":"Department of Electronic Systems, Aalborg University, 9220 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7584-5209","authenticated-orcid":false,"given":"Thomas Baltzer","family":"Moeslund","sequence":"additional","affiliation":[{"name":"Visual Analysis and Perception (VAP) Lab, Department of Architecture, Design, and Media Technology, Aalborg University, 9000 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Anne Marie","family":"Kanstrup","sequence":"additional","affiliation":[{"name":"Department of Planning, Aalborg University, 9000 Aalborg, Denmark"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0484-5962","authenticated-orcid":false,"given":"Lotte N. 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