A cable driven upper arm exoskeleton for upper extremity rehabilitation

Mao, Yong; Agrawal, Sunil K.

doi:10.1109/icra.2011.5980142

Cited by 46 publications

(22 citation statements)

References 20 publications

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“…A similar approach was adapted by [92]. Due to the cable-driven system, simultaneously to the highlevel tunnelling controller, a low-level PI plus feedforward control kept the tension of the cables [93]. Pre-clinical testing on 8 healthy and 1 impaired subject, showed that the subjects constantly moved closer to a prescribed path in the training trials.…”

Section: B Corrective Modesmentioning

confidence: 99%

Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies

Proietti

Crocher

Roby-Brami

et al. 2016

IEEE Rev. Biomed. Eng.

308

225

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Since the late 1990s, there has been a burst of research on robotic devices for poststroke rehabilitation. Robot-mediated therapy produced improvements on recovery of motor capacity; however, so far, the use of robots has not shown qualitative benefit over classical therapist-led training sessions, performed on the same quantity of movements. Multidegree-of-freedom robots, like the modern upper-limb exoskeletons, enable a distributed interaction on the whole assisted limb and can exploit a large amount of sensory feedback data, potentially providing new capabilities within standard rehabilitation sessions. Surprisingly, most publications in the field of exoskeletons focused only on mechatronic design of the devices, while little details were given to the control aspects. On the contrary, we believe a paramount aspect for robots potentiality lies on the control side. Therefore, the aim of this review is to provide a taxonomy of currently available control strategies for exoskeletons for neurorehabilitation, in order to formulate appropriate questions toward the development of innovative and improved control strategies.

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Section: B Corrective Modesmentioning

confidence: 99%

Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies

Proietti

Crocher

Roby-Brami

et al. 2016

IEEE Rev. Biomed. Eng.

308

225

View full text Add to dashboard Cite

show abstract

“…In the last few years, Agrawal et al presented several prototypes of CAREX [10][11][12][13][14]. The key features that differentiate CAREX from existing designs are: (i) It does not have traditional links and joints, hence does not require mechanical joint axes alignments and segment lengths adjustments.…”

Section: Introductionmentioning

confidence: 99%

Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton

Mao

Jin

Agrawal

2013

Journal of Mechanisms and Robotics

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In the past few years, the authors have proposed several prototypes of a able-driven upperm oskeleton () for arm rehabilitation. One of the assumptions of CAREX was that the glenohumeral joint rotation center (GH-c) remains stationary in the inertial frame during motion, which leads to inaccuracy in the kinematic model and may hamper training performance. In this paper, we propose a novel approach to estimate GH-c using measurements of shoulder joint angles and cable lengths. This helps in locating the GH-c center appropriately within the kinematic model. As a result, more accurate kinematic model can be used to improve the training of human users. An estimation algorithm is presented to compute the GH-c in real-time. The algorithm was implemented on the latest prototype of CAREX. Simulations and preliminary experimental results are presented to validate the proposed GH-c estimation method.

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“…The cables go from one segment of the arm to another without the need for independent sets of cables and there are no restrictions on natural arm movements [38]. An approach for real-time measurement of CGH with CAREX was presented in [43]. Nonetheless, more accurate estimation of the CGH and workspace analysis are still required to establish proper kinematic model.…”

Section: A Robotic Shoulder Orthoses Powered By Electric Actuatorsmentioning

confidence: 99%

Review on Design and Control Aspects of Robotic Shoulder Rehabilitation Orthoses

Niyetkaliyev

Hussain

Ghayesh

et al. 2017

IEEE Trans. Human-Mach. Syst.

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Robotic rehabilitation devices are more frequently used for the physical therapy of people with upper limb weakness, which is the most common type of stroke-induced disability. Rehabilitation robots can provide customized, prolonged, intensive, and repetitive training sessions for patients with neurological impairments. In most cases, the robotic exoskeletons have to be aligned with the human joints and provide natural arm movements. This is a challenging task to achieve for one of the most biomechanically complex joints of human body, i.e., the shoulder. Therefore, specific considerations have been made in the development of various existing robotic shoulder rehabilitation orthoses. Different types of actuation, degrees of freedom (DOFs), and control strategies have been utilized for the development of these shoulder rehabilitation orthoses. This paper presents a comprehensive review of these shoulder rehabilitation orthoses. Recent advancements in the mechanism design, their advantages and disadvantages, overview of hardware, actuation system, and power transmission are discussed in detail with the emphasis on the assisted DOFs for shoulder motion. A brief overview of control techniques and clinical studies conducted with the developed robotic shoulder orthoses is also presented. Finally, current challenges and directions of future development for robotic shoulder rehabilitation orthoses are provided at the end of this paper.

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A cable driven upper arm exoskeleton for upper extremity rehabilitation

Cited by 46 publications

References 20 publications

Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies

Upper-Limb Robotic Exoskeletons for Neurorehabilitation: A Review on Control Strategies

Real-Time Estimation of Glenohumeral Joint Rotation Center With Cable-Driven Arm Exoskeleton (CAREX)—A Cable-Based Arm Exoskeleton

Review on Design and Control Aspects of Robotic Shoulder Rehabilitation Orthoses

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