scholarly journals ARMin III – Arm Therapy Exoskeleton with an Ergonomic Shoulder Actuation

2009 ◽  
Vol 6 (2) ◽  
pp. 127-142 ◽  
Author(s):  
Tobias Nef ◽  
Marco Guidali ◽  
Robert Riener
Keyword(s):  
Degrees Of Freedom ◽  
The United States ◽  
Rehabilitation Robotics ◽  
The Body ◽  
Wrist Flexion ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Human Arm ◽  
Flexion Extension ◽  
Limb Rehabilitation

Rehabilitation robots have become important tools in stroke rehabilitation. Compared to manual arm training, robot-supported training can be more intensive, of longer duration and more repetitive. Therefore, robots have the potential to improve the rehabilitation process in stroke patients. Whereas a majority of previous work in upper limb rehabilitation robotics has focused on end-effector-based robots, a shift towards exoskeleton robots is taking place because they offer a better guidance of the human arm, especially for movements with a large range of motion. However, the implementation of an exoskeleton device introduces the challenge of reproducing the motion of the human shoulder, which is one of the most complex joints of the body. Thus, this paper starts with describing a simplified model of the human shoulder. On the basis of that model, a new ergonomic shoulder actuation principle that provides motion of the humerus head is proposed, and its implementation in the ARMin III arm therapy robot is described. The focus lies on the mechanics and actuation principle. The ARMin III robot provides three actuated degrees of freedom for the shoulder and one for the elbow joint. An additional module provides actuated lower arm pro/supination and wrist flexion/extension. Five ARMin III devices have been manufactured and they are currently undergoing clinical evaluation in hospitals in Switzerland and in the United States.

DYNAMIC MODELING AND EVALUATION OF A ROBOTIC EXOSKELETON FOR UPPER-LIMB REHABILITATION

2011 ◽  
Vol 08 (01) ◽  
pp. 83-102 ◽  
Author(s):  
MOHAMMAD HABIBUR RAHMAN ◽  
THIERRY KITTEL-OUIMET ◽  
MAAROUF SAAD ◽  
JEAN-PIERRE KENNÉ ◽  
PHILIPPE S. ARCHAMBAULT
Keyword(s):  
Dynamic Modeling ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Vital Role ◽  
Torque Control ◽  
Control Technique ◽  
Wrist Flexion ◽  
Upper Limb Rehabilitation ◽  
Flexion Extension ◽  
Physically Disabled People

Proper functioning of the shoulder, elbow, and wrist movements play a vital role in the performance of essential daily activities. To assist physically disabled people with impaired upper-limb function, we have been developing an exoskeleton robot (ExoRob) to rehabilitate and to ease upper limb motion. The proposed ExoRob will be comprised of seven degrees of freedom (DOFs) to enable natural movements of the human upper-limb. This paper focuses on the kinematic and dynamic modeling of the proposed ExoRob that corresponds to human upper-limbs. For this purpose, a nonlinear computed torque control technique was employed. In simulations, trajectory tracking corresponding to typical rehabilitation exercises were carried out to evaluate the performances of the developed model and controller. For the experimental part, only 3DOFs (elbow, wrist flexion/extension, wrist abduction/adduction) were considered. Simulated and experimental results show that the controller was able to maneuver the proposed ExoRob efficiently in order to track the desired trajectories, which in this case consisted in passive arm movements. Such movements are widely used in therapy and were performed efficiently with the developed ExoRob and the controller.

scholarly journals Sliding Mode Control for 2 Degrees of Freedom Upper Limb Rehabilitation Robotic System under Uncertainties

2019 ◽  
Vol 9 (2) ◽  
pp. 3268-3274
Keyword(s):  
Sliding Mode Control ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Sliding Mode ◽  
Robotic Manipulator ◽  
Upper Limb Rehabilitation ◽  
Mode Control ◽  
Rehabilitation Robots ◽  
High Frequency Oscillations ◽  
Limb Rehabilitation

Rehabilitation of patients suffering from post-stroke injuries via robots is now adapted word widely. The aim of this therapy is to restore and improve the dysfunction and the performance of the affected limbs doing repetitive tasks with the help of rehabilitation robots, as robots are best way to perform repetitive task without any monotony failure. Control of these rehabilitation robots is an important part to consider because of nonlinearity and uncertainty of the system. This paper presents nonlinear sliding mode controller (SMC) for controlling a 2 degrees of freedom (DOF) upper limb robotic manipulator. Sliding mode control is able to handle system uncertainties and parametric changes. One drawback of using SMC is high frequency oscillations called as chattering. This chattering can be reduced by using boundary layer technique. Experiments have been carried out under perturbed conditions and results have shown that SMC performs well and remain stable and thus proves to robust controller for upper limb robotic manipulator.

scholarly journals Robotics in physical medicine and neurorehabilitation

2021 ◽  
Vol 74 (1-2) ◽  
pp. 50-53
Author(s):  
Vesna Pausic ◽  
Grigorije Jovanovic ◽  
Svetlana Simic
Keyword(s):  
Upper Limb ◽  
Rehabilitation Robotics ◽  
Robotic Systems ◽  
Upper Body ◽  
Physical Medicine ◽  
Upper Limb Rehabilitation ◽  
Rehabilitation Robots ◽  
Robotic Devices ◽  
The 1960S ◽  
Limb Rehabilitation

Introduction. Robots have been used for rehabilitation purposes since the 1960s. The aim of this paper is to present the application of robotics in physical medicine and rehabilitation with special reference to robotic devices used in rehabilitation. Material and Methods. The paper uses literature related to the application of robotics in medicine and rehabilitation. The literature review was conducted using the following databases: Serbian Library Consortium for Coordinated Acquisition, Medical Literature Analysis and Retrieval System, Google Scholar, Science Citation Index, and portal of Croatian scientific journals ?Hrcak?. Development of robotics in rehabilitation. Nowadays, there are a great number of different robotic systems for rehabilitation. Robotics in rehabilitation is of utter importance because it works on the principle of neuroplasticity. Robots for lower limb rehabilitation. These robotic systems are most often in the form of exoskeletons. Robots for upper limb rehabilitation. Upper limb rehabilitation robots are therapeutic devices that help or provide support for arm or hand movements. Robot for upper body rehabilitation. Robot ?Tymo?. Conclusion. By using robots in physical medicine and neurorehabilitation, a faster and more complete functional recovery of the patient can be achieved.

Human-robot coupling modeling and analysis for upper limb rehabilitation robots

2020 ◽  
pp. 1-15
Author(s):  
Qiaolian Xie ◽  
Qiaoling Meng ◽  
Yue Dai ◽  
Qingxin Zeng ◽  
Yuanjie Fan ◽  
...  
Keyword(s):  
Upper Limb ◽  
Dynamic Control ◽  
Human Robot Interaction ◽  
Rehabilitation Robot ◽  
Robot Interaction ◽  
Upper Limb Rehabilitation ◽  
Modeling And Analysis ◽  
Rehabilitation Robots ◽  
Human Arm ◽  
Limb Rehabilitation

BACKGROUND: Upper limb rehabilitation robots have become an important piece of equipment in stroke rehabilitation. Human-robot coupling (HRC) dynamics play a key role in the control of rehabilitation robots to improve human-robot interaction. OBJECTIVE: This study aims to study the methods of modeling and analysis of HRC dynamics to realize more accurate dynamic control of upper limb rehabilitation robots. METHODS: By the analysis of force interaction between the human arm and the upper limb rehabilitation robot, the HRC torque is achieved by summing up the robot torque and the human arm torque. The HRC torque and robot torque of a 2-DOF upper limb rehabilitation robot (FLEXO-Arm) are solved by Lagrangian equation and step-by-step dynamic parameters identification method. RESULTS: The root mean square (RMS) is used to evaluate the accuracy of the HRC torque and the robot torque calculated by the parameter identification, and the error of both is about 10%. Moreover, the HRC torque and the robot torque are compared with the actual torque measured by torque sensors. The error of the robot torque is more than twice the HRC. Therefore, the HRC torque is more accurate than the actual torque. CONCLUSIONS: The proposed HRC dynamics effectively achieves more accurate dynamic control of upper limb rehabilitation robots.

scholarly journals Diseño de un sistema de rehabilitación para miembro superior en entorno de realidad virtual (Design of a upper limb rehabilitation system in virtual reality environment/Projeto do sistema de reabilitação do membro superior em ambiente de realidade virtual

2014 ◽  
Vol 7 (14) ◽  
Author(s):  
Fabricio Muri Calcatelli ◽  
Celina Carbajal ◽  
Elisa Pérez ◽  
Hugo Fernández ◽  
Ana María Echenique ◽  
...  
Keyword(s):  
Upper Limb ◽  
Virtual Design ◽  
Channel System ◽  
Upper Limb Rehabilitation ◽  
Myoelectric Prostheses ◽  
Human Arm ◽  
Flexion Extension ◽  
Rehabilitation System ◽  
Limb Rehabilitation ◽  
Electromyographic Signals

Resumen: Este trabajo describe el diseño y desarrollo de un sistema capaz de adquirir señales electromiográficas de superficie, digitalizarlas y procesarlas en una computadora personal, para ser usadas como control de un objeto de realidad virtual que representa al miembro superior. La clasificación de la intencionalidad del usuario se realiza mediante la configuración y entrenamiento de una red neuronal artificial. Luego se presenta en tiempo real la animación en realidad virtual de los movimientos realizados por el miembro superior. Los resultados para los cuatro voluntarios estudiados, indican una tasa de clasificación positiva en promedio del 75% para cada uno de ellos.Abstract: This work presents the design and development of a six-channel system for acquisition and conditioning of electromyographic signals collected in the upper limb. The main objective of the work is to create a system that can be used as rehabilitation and training instrument for potential users of myoelectric prostheses. The software developed perform actions of feature extraction, classifier training and design of the mechanical model of the human arm, with the running movements of flexion, extension, pronation and supination of the forearm and the grasp in a reality environment virtual, providing rehabilitation therapy to different patients. Sumário ─ Este trabalho apresenta a concepção e desenvolvimento de um sistema de seis canais para a aquisição e condicionamento de sinais eletromiográficos coletados no membro superior. O principal objetivo do trabalho é criar um sistema que pode ser utilizado como instrumento de reabilitação e treinamento para os potenciais utilizadores de prótese mioelétrica. O software desenvolvido executar ações de extração de características, o treinamento do classificador e design do modelo mecânico do braço humano, com os movimentos da corrida de flexão, extensão, pronação e supinação do antebraço e do alcance em um ambiente de realidade virtual, fornecendo terapia de reabilitação para diferentes pacientes.

scholarly journals Design and evaluation of a novel upper limb rehabilitation robot with space training based on an end effector

2021 ◽  
Vol 12 (1) ◽  
pp. 639-648
Author(s):  
Qiaoling Meng ◽  
Zongqi Jiao ◽  
Hongliu Yu ◽  
Weisheng Zhang
Keyword(s):  
Upper Limb ◽  
Degrees Of Freedom ◽  
Elbow Flexion ◽  
Rehabilitation Robot ◽  
End Effector ◽  
Upper Limb Rehabilitation ◽  
Flexion Extension ◽  
Robot Configuration ◽  
Limb Rehabilitation ◽  
Equivalent Mechanism

Abstract. The target of this paper is to design a lightweight upper limb rehabilitation robot with space training based on end-effector configuration and to evaluate the performance of the proposed mechanism. In order to implement this purpose, an equivalent mechanism to the human being upper limb is proposed before the design. Then, a 4 degrees of freedom (DOF) end-effector-based upper limb rehabilitation robot configuration is designed to help stroke patients perform space rehabilitation training of the shoulder flexion/extension and adduction/abduction and elbow flexion/extension. Thereafter, its kinematical model is established together with the proposed equivalent upper limb mechanism. The Monte Carlo method is employed to establish their workspace. The results show that the overlap of the workspace between the proposed mechanism and the equivalent mechanism is 96.61 %. In addition, this paper also constructs a human–machine closed-chain mechanism to analyze the flexibility of the mechanism. According to the relative manipulability and manipulability ellipsoid, the highly flexible area of the mechanism accounts for 67.6 %, and the mechanism is far away from the singularity on the drinking trajectory. In the end, the single-joint training experiments and a drinking water training trajectory planning experiment are developed and the prototype is manufactured to verify it.

scholarly journals A Force-Feedback Exoskeleton for Upper-Limb Rehabilitation in Virtual Reality

2009 ◽  
Vol 6 (2) ◽  
pp. 115-126 ◽  
Author(s):  
Antonio Frisoli ◽  
Fabio Salsedo ◽  
Massimo Bergamasco ◽  
Bruno Rossi ◽  
Maria C. Carboncini
Keyword(s):  
Virtual Reality ◽  
Upper Limb ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Full Range ◽  
Upper Limb Rehabilitation ◽  
Reaching Task ◽  
Human Arm ◽  
Performance Error ◽  
Limb Rehabilitation

This paper presents the design and the clinical validation of an upper-limb force-feedback exoskeleton, the L-EXOS, for robotic-assisted rehabilitation in virtual reality (VR). The L-EXOS is a five degrees of freedom exoskeleton with a wearable structure and anthropomorphic workspace that can cover the full range of motion of human arm. A specific VR application focused on the reaching task was developed and evaluated on a group of eight post-stroke patients, to assess the efficacy of the system for the rehabilitation of upper limb. The evaluation showed a significant reduction of the performance error in the reaching task (pairedt-test, p < 0.02)

Non-linear active disturbance rejection control for upper limb rehabilitation exoskeleton

2020 ◽  
pp. 095965182095457
Author(s):  
Sumit Aole ◽  
Irraivan Elamvazuthi ◽  
Laxman Waghmare ◽  
Balasaheb Patre ◽  
Fabrice Meriaudeau
Keyword(s):  
Upper Limb ◽  
Trajectory Tracking ◽  
Disturbance Rejection ◽  
Active Disturbance Rejection Control ◽  
Upper Limb Rehabilitation ◽  
Active Disturbance Rejection ◽  
Disturbance Rejection Control ◽  
Flexion Extension ◽  
Non Linear ◽  
Limb Rehabilitation

Trajectory tracking in upper limb rehabilitation exercises is utilized for repeatability of joint movement to improve the patient’s recovery in the early stages of rehabilitation. In this article, non-linear active disturbance rejection control as a combination of non-linear extended-state observer and non-linear state error feedback is used for the sinusoidal trajectory tracking control of the two-link model of an upper limb rehabilitation exoskeleton. The two links represent movements like flexion/extension for both the shoulder joint and the elbow joint in the sagittal plane. The Euler–Lagrange method was employed to acquire a dynamic model of an upper limb rehabilitation exoskeleton. To examine the efficacy and robustness of the proposed method, four disturbances cases in simulation studies with 20% parameter variation were applied. It was found that the non-linear active disturbance rejection control is robust against disturbances and achieves better tracking as compared to proportional–integral–derivative and existing conventional active disturbance rejection control method.

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