A brief review on upper extremity robotic exoskeleton systems

Gopura, R. A. R. C.; Kiguchi, Kazuo; Bandara, D. S. V.

doi:10.1109/iciinfs.2011.6038092

Cited by 103 publications

(44 citation statements)

References 23 publications

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“…In addition, leakage can occur and lines can burst, potentially causing serious injuries. The most promising and most commonly used RAS in wearable robotics are systems based on Bowden cables [10], [11], [17]- [25]. The integration into existing systems driven by electromagnetic motors is straightforward, the needed components are easily accessible, and the cables operate safely.…”

Section: Introductionmentioning

confidence: 99%

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Hofmann

Bützer

Lambercy

et al. 2018

IEEE Robot. Autom. Lett.

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Section: Introductionmentioning

confidence: 99%

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Hofmann

Bützer

Lambercy

et al. 2018

IEEE Robot. Autom. Lett.

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“…The distal phalanx is located at the fingertip, connected to the proximal phalanx that is located at the base of the finger through middle phalanx. The proximal phalanx is also connected to the metacarpal bones in the palm of the hand [3]. The finger joints are metacarpophalangeal (MCP), proximal interphalangeal (PIP), and distal interphalangeal (DIP) joints.…”

Section: A Hand Biomechanicsmentioning

confidence: 99%

“…Exoskeletons have been studied since the 1960s for industrial or medical applications. The first whole-body exoskeleton robot; Hardiman, was actuated and was supposed to be driven by a human operator from the inside of the robot [3]. Pons et al [4] classified exoskeleton robots into three groups; empowering exoskeleton which extends the strength of human beyond its natural ability while maintaining human control of the robot, orthotic exoskeleton whose mechanical structure maps onto the anatomy of the human limb with a purpose to restore lost or weak functions, and prosthetic robot which substitutes the lost limb after amputation.…”

Section: Introductionmentioning

confidence: 99%

Electromyography Assessment of Forearm Muscles: Towards the Control of Exoskeleton Hand

Abas

Bukhari

Abas

et al. 2018

2018 5th International Conference on Control, Decision and Information Technologies (CoDIT)

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Abstract-Hand plays an important role in a human's life by offering physical interaction and grasping capabilities. In most stroke cases, the hand is the most vulnerable part of the body that has a high chance of suffering. This has led to the development of a numerous wearable robotic devices such as exoskeleton hands. The exoskeleton hands can provide physical assistance for stroke survivors to regain their abilities in performing basic activities of daily living and to improve their quality of life. The key challenges in developing such a device do not only lie in designing its mechanical but also in designing its controller. In controlling the exoskeleton hand, the principal criterion is to work according to the user's motion intention. It can be done by utilizing the electromyogram (EMG) signals generated by forearm muscles contributed from the movement and/or grasping abilities of the hand. In this paper, electromyography assessment of forearm muscles towards the control of an exoskeleton hand is presented. The EMG signals are collected non-invasively using multi-channel surface EMG sensors. The contractions of the muscles are detected from several forearm (flexion and extensor) muscles and the data is processed through several pattern recognition steps, before being mapped to various pinching/gripping forces and angular joints. The adaptability and learning process is done through a neural network. The experimental results show separable classes of features and significant range of control inputs that represent the inter-relation between forearm EMG signals, various pinching/gripping forces and angular joints for exoskeleton hand control.

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“…One of such robots is the powered assistive lower exoskeletons that can be worn by human-operators as orthotic devices for human performance assistance or work augmentation. Up to now, this research field of exoskeletons ranging from upper [1] to lower [2] limb assistance/support has inspired scientists and researchers to deal with numerous related challenges due to its special properties compared to other classes of conventional robots. The review on the lower exoskeletons can be referred in [3].…”

Section: Introductionmentioning

confidence: 99%

Bio-Based Supervisory Control of a Lower Exoskeleton for Stance Phase

Tran¹

2018

JST

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This paper presents a newly supervisory impedance control strategy of a wearable lower limb exoskeleton in stance phase intended to enhance human performance and support loadcarrying using biomechanical analysis. In order to control the coupled human-robot system, the impedance control strategy, previously developed by the authors for swing phase, has been herein expanded up to the stance phase by regulating the desired impedance between the exoskeleton and a wearer's limb according to a specific motion speed. The effect of human behaviours on the change of impedance parameters across variable walking speeds in the stance phase is adopted to design the fuzzy rules for the control strategy. The control performance of the designed exoskeleton is evaluated on a bench-testing over different ranges of walking speeds (about 0.3 m/s to 1.2 m/s). Experimental results show that the resulting interaction torque, the human-exoskeleton tracking error, and electrical power consumption are significantly reduced as compared to a traditional impedance control, especially in the stance phase. Besides that, an average of 72.3 % of the load was transferred to the ground by the exoskeleton during the stance phase of walking. The developed control strategy on the lower exoskeleton has the potential to increase comfort and adaptation to users during daily use.

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A brief review on upper extremity robotic exoskeleton systems

Cited by 103 publications

References 23 publications

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Design and Evaluation of a Bowden-Cable-Based Remote Actuation System for Wearable Robotics

Electromyography Assessment of Forearm Muscles: Towards the Control of Exoskeleton Hand

Bio-Based Supervisory Control of a Lower Exoskeleton for Stance Phase

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