A Design For An Exoskeletal Device With Reduced Reliance On Joint Alignment

Moser, Nicholas; Lueth, Tim C.

doi:10.1109/robio49542.2019.8961455

Cited by 4 publications

(2 citation statements)

References 16 publications

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“…The wrist is one of the most complicated joints in the human body, consisting of eight small, intricately shaped carpal bones, which articulate with each other complexly and interact with the metacarpal bones and the distal radio-ulnar joint [6,7]. It's difficult to give an accurate description of the motion of wrist joint.…”

Section: Introductionmentioning

confidence: 99%

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Dong

Zhang

et al. 2022

J. Phys.: Conf. Ser.

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Axis alignment between human and robot has been a research hotspot in wearable rehabilitation robots and has a significant effects on full natural ranges of motion (ROM) during robot-assisted training exercises. Self-alignment mechanism (SAM) has been extensively applied on the rehabilitation robots to adaptively compensate the axis misalignment between human anatomic and robot mechanical joints. However, the effects of the SAM on the wrist ROM have not been definitely assessed. In this study, we implemented a SAM on a wrist rehabilitation device (WReD II), and the SAM was specially designed to be locked or unlocked to achieve self-alignment function or not according to demands. To assess the effects of SAM on the wrist passive ROM of extension/flexion (E/F), passive training experiments involving 8 healthy participants were conducted by locking or unlocking the SAM respectively. Surface Electromyography (sEMG) was applied to monitor muscle activity during experiments. During the experiments, the wrist passive ROM were measured by applying the robot-assisted assessment technique. Preliminary results show that the means of the passive ROM have a maximum increase of 19.78° in the case with SAM unlocked when compared to the case with SAM locked. Statistical results indicated high test-retest reliability of the passive ROM measurements with intraclass correlation coefficient ICC (2,1) more than 0.82, and standard error of measurement (SEM) less than 3.2°. These findings suggest that the implement of SAM on the rehabilitation robots has great potentials due to its feasibility and reliability to obtain larger natural passive ROM.

show abstract

Section: Introductionmentioning

confidence: 99%

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Dong

Zhang

et al. 2022

J. Phys.: Conf. Ser.

View full text Add to dashboard Cite

show abstract

“…The wrist is one of the most complicated joints in the human body, consisting of eight small, intricately shaped carpal bones, which articulate with each other complexly and interplay with the metacarpal bones and the distal radio-ulnar joint [7,8]. Therefore, undesired misalignment between the anatomical axes of the wrist joint and the mechanical rotation axes of robots inevitably occur due to the assumption that there is only rotational motion in wrist joints.…”

Section: Introductionmentioning

confidence: 99%

Effects of adding self-aligning mechanism to the wrist rehabilitation device on the active range of motion

Dong

Wei-dong²,

Zhang³

et al. 2022

Second International Conference on Cloud Computing and Mechatronic Engineering (I3CME 2022)

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The inevitable axis misalignment between human wrist joint and the rehabilitation robot joint may bring undesired reaction force, which may block the acquire of wrist natural range of motion (ROM). To compensate axis misalignment, the introduction of self-alignment mechanism (SAM) to robots is one of the extensively applied method. However, this method may have effects on the biomechanical properties of wrist joint, and the definite effects of SAM on the wrist ROM have been rarely investigated up to date. The assessment of wrist active ROM can provide insight into improvements and effective monitoring during a rehabilitation program. To verify the effects of SAM on the wrist active ROM of flexion/extension, experiments involving 8 healthy subjects were conducted in the cases of SAM locked and SAM unlocked respectively, thus active ROM measured by robot-assisted assessment method. Results show that the mean values of the active ROM has a maximum increase of 21.64º with SAM unlocked compared to that with SAM locked. Test-retest reliability of the proposed assessment method was also analyzed with intraclass correlation coefficient more than 0.79, and standard error of measurement less than 4.17º . These suggest that the application of SAM on the WReD II was feasible and reliable to help acquire larger wrist active ROM.

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Robot-assisted assessment method for axis misalignment of wrist joint

Dong

Zhang

et al. 2022

Proceedings of the 2022 4th International Conference on Robotics, Intelligent Control and Artificial Intelligence

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A Design For An Exoskeletal Device With Reduced Reliance On Joint Alignment

Cited by 4 publications

References 16 publications

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Robot-assisted assessment of the effects of self-aligning mechanism on the wrist passive range of motion

Effects of adding self-aligning mechanism to the wrist rehabilitation device on the active range of motion

Robot-assisted assessment method for axis misalignment of wrist joint

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