Redundancy and joint limits of a seven degree of freedom upper limb exoskeleton

2011 ◽  
Author(s):  
L. M. Miller ◽  
Hyunchul Kim ◽  
J. Rosen
Keyword(s):  
Upper Limb ◽  
Degree Of Freedom ◽  
Upper Limb Exoskeleton ◽  
Joint Limits

Kinematic Design Optimization of an Eight Degree-of-Freedom Upper-Limb Exoskeleton

Robotica ◽  
2019 ◽  
Vol 37 (12) ◽  
pp. 2073-2086 ◽  
Author(s):  
Amin Zeiaee ◽  
Rana Soltani-Zarrin ◽  
Reza Langari ◽  
Reza Tafreshi
Keyword(s):  
Upper Limb ◽  
Optimization Problem ◽  
Degree Of Freedom ◽  
Upper Limb Rehabilitation ◽  
Upper Limb Exoskeleton ◽  
Wearable Robots ◽  
Design Variables ◽  
Final Design ◽  
Limb Rehabilitation

SummaryThis paper studies the problem of optimizing the kinematic structure of an eight degree-of-freedom upper-limb rehabilitation exoskeleton. The objective of optimization is achieving minimum volume and maximum dexterity in the workspace of daily activities specified by a set of upper-arm configurations. To formulate the problem, a new index is proposed for effective characterization of kinematic dexterity for wearable robots. Additionally, a set of constraints are defined to ensure that the optimal design can cover the desired workspace of the exoskeleton, while singular configurations and physical interferences are avoided. The formulated multi-objective optimization problem is solved using an evolutionary algorithm (Non-dominated Sorting Genetic Algorithm II) and the weighted sum approach. Among the resulted optimal points, the point with least sensitivity with respect to the variations of design variables is chosen as the final design.

Upper Limb Exoskeleton Controlled by Stepper Motor

2015 ◽  
Vol 811 ◽  
pp. 305-310
Author(s):  
Tadeusz Mikolajczyk ◽  
Adrian Olaru ◽  
Pawel Walkowiak
Keyword(s):  
Upper Extremity ◽  
Upper Limb ◽  
High Accuracy ◽  
Degree Of Freedom ◽  
Program Control ◽  
Stepper Motor ◽  
Potential Solution ◽  
Upper Limb Exoskeleton ◽  
Human Motor ◽  
Upper Extremity Rehabilitation

The effectiveness of rehabilitation is closely linked with suitably chosen therapy. The treatment can be performed only by specialized personnel or through the use of automated devices. One of the potential solution of this problem is exoskeleton. It is the kind of suit that allows the user assumed to support or even replace the human motor. The paper presents a proposal of the exoskeleton with 1 degree of freedom providing upper extremity rehabilitation in the elbow with the master-slave program. Control is via stepper motor which ensures high accuracy in the implementation of programmed movements.

Dynamic Analysis and Preliminary Evaluation of a Spring-Loaded Upper Limb Exoskeleton for Resistance Training with Overload Prevention

2012 ◽  
Vol 29 (1) ◽  
pp. 35-44 ◽  
Author(s):  
T.-M. Wu ◽  
D.-Z. Chen
Keyword(s):  
Resistance Training ◽  
Upper Limb ◽  
Dynamic Models ◽  
Heart Association ◽  
Human Movement ◽  
Degree Of Freedom ◽  
Clinical Population ◽  
Preliminary Evaluation ◽  
Upper Limb Exoskeleton ◽  
Length Changes

ABSTRACTResistance training has been shown to be effective for developing musculoskeletal strength and is recommended by many major health organizations, such as the American College of Sports Medicine and the American Heart Association. This form of training is available for most populations, including adolescents, healthy adults, the elderly, and the clinical population. Resistance training equipment design relies heavily on the analysis of human movement. Dynamic models of human movement help researchers identify key forces, movements, and movement patterns that should be measured. An at-home resistance training upper limb exoskeleton has been designed with a three-degree-of-freedom shoulder joint and a one-degree-of-freedom elbow joint to allow movement of the upper limb at single and multiple joints in different planes. The exoskeleton can continuously increase the resistance as the spring length changes to train more muscle groups and to reduce the potential risk of muscle injury to the upper limb by free weights and training equipment. The objectives of this research were to develop a dynamic model of the spring-loaded upper limb exoskeleton and to evaluate this model by adopting an appropriate motion analysis system to verify our hypotheses and to determine the optimal configuration of a spring-loaded upper limb exoskeleton for further verification studies.

Novel Adaptive Reaching Law for Sliding Mode Control of an Upper Limb Exoskeleton Robot*

2020 ◽  
Author(s):  
Brahim Brahmi ◽  
Khaled El-Monajjed ◽  
Mohammad Habibur Rahman ◽  
Tanvir Ahmed ◽  
Claude El-Bayeh ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Sliding Mode ◽  
Reaching Law ◽  
Mode Control ◽  
Upper Limb Exoskeleton ◽  
Exoskeleton Robot

scholarly journals A 4-DOF Upper Limb Exoskeleton for Physical Assistance: Design, Modeling, Control and Performance Evaluation

2021 ◽  
Vol 11 (13) ◽  
pp. 5865
Author(s):  
Muhammad Ahsan Gull ◽  
Mikkel Thoegersen ◽  
Stefan Hein Bengtson ◽  
Mostafa Mohammadi ◽  
Lotte N. S. Andreasen Struijk ◽  
...  
Keyword(s):  
Upper Limb ◽  
Tracking Control ◽  
Degrees Of Freedom ◽  
Control Method ◽  
Mechanical Design ◽  
Trajectory Tracking Control ◽  
Upper Limb Exoskeleton ◽  
And Performance ◽  
Physically Disabled People ◽  
Human Upper Limb

Wheelchair mounted upper limb exoskeletons offer an alternative way to support disabled individuals in their activities of daily living (ADL). Key challenges in exoskeleton technology include innovative mechanical design and implementation of a control method that can assure a safe and comfortable interaction between the human upper limb and exoskeleton. In this article, we present a mechanical design of a four degrees of freedom (DOF) wheelchair mounted upper limb exoskeleton. The design takes advantage of non-backdrivable mechanism that can hold the output position without energy consumption and provide assistance to the completely paralyzed users. Moreover, a PD-based trajectory tracking control is implemented to enhance the performance of human exoskeleton system for two different tasks. Preliminary results are provided to show the effectiveness and reliability of using the proposed design for physically disabled people.

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